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diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..884db467338a5a48dd97b1eb4d9bd2df2ae922a6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/resolved_config.yaml
@@ -0,0 +1,231 @@
+name: fast_2beaker_dual_target_s03_psl_knn_00005
+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.
+  layout_id: layout_00005
+  reproducibility:
+    enabled: true
+    layout_id: layout_00005
+    action_seed: 1265260622047408349
+    step_seeds:
+    - 3954225634939434796
+    - 941158965129780711
+    - 4636139028423254317
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.238
+      - 0.238
+      'y':
+      - 0.2936
+      - 0.2936
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.3517
+      - 0.3517
+      'y':
+      - -0.1314
+      - -0.1314
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3593
+      - 0.3593
+      'y':
+      - 0.0744
+      - 0.0744
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2386
+      - 0.2386
+      'y':
+      - -0.3598
+      - -0.3598
+      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_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
+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_knn_00005
+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_knn_00005/results/episode_0_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e2c2f4f33fc4b7e81ebfd4b3fe196b015917ca4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_0_success.json
@@ -0,0 +1,686 @@
+{
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+    "layout_id": "layout_00005",
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+      4636139028423254317
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+    "strict_task_state": false,
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+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ad70fe2e4a68f1b38576092e1bf92cc7175afc504ab4810a7f5d9619ef0569b0",
+    "visual_seed": 1316926035118358720,
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+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_101_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f568ee7c89930ca99cbd16306fe0eaa8db88c25a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_101_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 101,
+  "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": [
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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"
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+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
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+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "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_z_skew_frame": "object_local_up",
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+                "beaker_a"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
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+              "enabled": true
+            },
+            "status": "active",
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+            "forbidden": [],
+            "disturbances": [],
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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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+            "object_axis_flip_tolerance_deg": 3.0,
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+            "placed_release_frames": 138,
+            "max_placed_release_frames": 138
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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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": [
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+                "/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",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
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+                "panda_leftfinger",
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+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
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+                "base_link",
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+                "desk",
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+                "ground",
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+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "578cfaedf49d038bacdacec2ea5f8db88c7dcbc75314300010773460290c06ea",
+    "visual_seed": 5756437929445789282,
+    "episode_index": 101,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_104_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_104_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0939d693d3a1933a3767e296d4c5c9424f87e21a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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": [
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+              0.2810237268926785,
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+              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": {},
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "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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+              0.29231724080651916,
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+            "held_shake_count": 5,
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+            "held_grasp_geometry_required": true,
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+              0.2841326428730715,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_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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+            "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": {
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+          "metrics": {
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+            "release_gap_missing_size": false,
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+            "release_required_pad_clearance": 0.05310056659987193,
+            "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": 1.2188118313964398,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 138,
+            "max_placed_release_frames": 138
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "707374598e8a41b874fcb14a3c820d2772adf808aa10e2b6d6d063b83f739fef",
+    "visual_seed": 321667525801791490,
+    "episode_index": 104,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_105_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_105_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e525cc07794185543855dc493d88977274da5a34
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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": [
+    {
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+              1.050008917453043
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+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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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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+        "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,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_object_xy_range": 0.08726568338617247,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew_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"
+              ],
+              "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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+      "target": "inspection_platform",
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+      "reason": "executed",
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+        "checker": {
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+            "force_virtual_attach": false,
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+            "object_tilt_deg": 0.9134194756226236,
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+            "object_axis_flip_tolerance_deg": 3.0,
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 138,
+            "max_placed_release_frames": 138
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "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",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "10e2f8a580032f6d6a121434ad0d2c21469c8aae7c9019183f07a3d044a666e4",
+    "visual_seed": 597381905542776750,
+    "episode_index": 105,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_106_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_106_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9dd5998d4f03f5d4898c6e02b54273c569e99f4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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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+              1.0521054366215163
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+              0.28852216627640487,
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+              0.28125435127761944,
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+              0.0,
+              1.0
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+            "stable_success_frames": 225,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "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": [],
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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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+            "max_held_gripper_z_dist": 0.0028795478705949673,
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+              0.29704235249426175,
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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_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"
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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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+                  "b": "/World/beaker_2/mesh"
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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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+          "metrics": {
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14186880781726172,
+            "release_required_pad_clearance": 0.05253401838224257,
+            "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": 0.12482919846327518,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0fc0796d70165f8bc088995228cefb8d53d3ee2679c06ce5b8ff52b5afae2b3c",
+    "visual_seed": 962226661652928624,
+    "episode_index": 106,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_108_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_108_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..add1988025758659299ed5a219b8797db2e5d506
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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",
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+      "reason": "executed",
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+              0.2983939470600886,
+              1.0501758817980344
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+            "gripper_position": [
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+              0.2932016532981093,
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+            "object_to_gripper_z": -0.0036554174644454207,
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+              0.27330697822807726,
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+            "finger_b": [
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+              0.2858504626440829,
+              1.0501758817980344
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+              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": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
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+              ],
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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",
+      "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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+              0.29720540264311396,
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+            "held_shake_count": 5,
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+            "held_gripper_dist": 0.008660435483930981,
+            "max_held_gripper_dist": 0.008679916718292621,
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+            "held_gripper_z_dist": 0.0037957806506083713,
+            "max_held_gripper_z_dist": 0.003966308755626091,
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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_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02523582127379658,
+            "held_grasp_world_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": 0.004841390079304429,
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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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+              "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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+      "physical_semantics": {
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+    },
+    {
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+      "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": [
+              0.359611233361829,
+              0.07912663940090295,
+              0.7671055762537017
+            ],
+            "target_position": [
+              0.3562530546321563,
+              0.07555158928735088,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004904930957193465,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17357580946513626,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671055762537017,
+            "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": 0.07516941404893493,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08567085227782738,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14287062168265294,
+            "release_required_pad_clearance": 0.05283542613891369,
+            "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": 0.704394728529093,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e33ce6cbc70393b1a9977f098facd6d580430bdc53b8817b54c638cd7d597980",
+    "visual_seed": 1301539967261223843,
+    "episode_index": 108,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_109_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_109_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..afa558d511a64fa87c3d41d90b02001b6659f1f7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
+      "success": true,
+      "reason": "executed",
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+              1.0523809899901013
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+            "gripper_position": [
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+              0.29063215833375905,
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+            "finger_b": [
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+              1.0523809899901013
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+            "finger_midpoint": [
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+              0.28333061590940345,
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+              1.0
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+            "stable_success_frames": 225,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "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,
+            "forbidden": [],
+            "disturbances": [],
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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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+        "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": 0.0025180351915099486,
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+            "held_object_xy_range": 0.08788160239478171,
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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",
+            "held_grasp_z_skew": 0.02462862677069987,
+            "held_grasp_world_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"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.36585037618371014,
+              0.07806247424712232,
+              0.7671051859949655
+            ],
+            "target_position": [
+              0.3615514049103518,
+              0.07440319433653066,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00564548345788204,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17686036573306518,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671051859949655,
+            "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": 0.07529833640327693,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08623647602833782,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14569162612422568,
+            "release_required_pad_clearance": 0.053118238014168914,
+            "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": 1.2617407745078058,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1ce452067377cd6e3bc8264835bb04aaa5434a1cc45c3ee756f5f67be2ee3076",
+    "visual_seed": 7815118821625604173,
+    "episode_index": 109,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_10_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..211f961127dccea2bfa896eb298dfc68243cfe36
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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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+      "target": "beaker_a",
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+          "skill": "pick",
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+              0.29528660939111573,
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+              0.2701824289286424,
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+              1.0488666826964552
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+              0.28273451915987907,
+              1.0488666826964552
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+              1.0
+            ],
+            "stable_success_frames": 221,
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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,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "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": {
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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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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008204890841463025,
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+            "held_gripper_max_dist": 0.15,
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+            "max_held_gripper_z_dist": 0.0031369995140255735,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08781216420353602,
+            "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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+              0.27340018852687836,
+              1.238876686235106
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+              0.2862270621020079,
+              1.238876686235106
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+            "held_grasp_object_position": [
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+              0.29905393567713745,
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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": 0.025236049141518738,
+            "held_grasp_world_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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+              -0.9992819964152188,
+              0.00678479529407805
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004874725586892858,
+            "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": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.36200879203458947,
+              0.07832555307438906,
+              0.7671040582992515
+            ],
+            "target_position": [
+              0.35726394434035025,
+              0.07427501562526989,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0062386243089517755,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1769500019149854,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671040582992515,
+            "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": 0.07513511288951313,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08552392321781731,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14627281885038076,
+            "release_required_pad_clearance": 0.052761961608908656,
+            "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": 0.5650683037753585,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e10e4217caebb0a77014c2ccac1581dc8fa823aa2240e104b6818e2a01435f75",
+    "visual_seed": 8058864620837568608,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_111_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_111_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..46f48ccfab67ed4e9eb67432ba02f34f4a55e1a2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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": [
+    {
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+          "skill": "pick",
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+              1.0515505826889062
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+              1.0515505826889062
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+              0.2814510874058629,
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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_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/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+            },
+            "failed_keys": []
+          }
+        },
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+        "target": "beaker_a",
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+        "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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+            "max_held_gripper_z_dist": 0.0024646924317084373,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08730926238326622,
+            "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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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew": 0.024676452132916006,
+            "held_grasp_world_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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+              -0.9964589879149635,
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00408601382471695,
+            "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": {
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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": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.36025017786138663,
+              0.07700270859307992,
+              0.7671053049935733
+            ],
+            "target_position": [
+              0.355909006960317,
+              0.073088334657495,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005845347560229434,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.172592184965391,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671053049935733,
+            "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": 0.0757073413581999,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08535597833525986,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14064638178893943,
+            "release_required_pad_clearance": 0.05267798916762993,
+            "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": 0.3994903686899762,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 138,
+            "max_placed_release_frames": 138
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ace64d7806d76df5e4150eee9efbb5374a4f020a15ff1e155fd6e01beaf2bc5a",
+    "visual_seed": 5517607812805087346,
+    "episode_index": 111,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_112_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_112_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2cdf6b12ff35f5e583ad5fa2a59521262ad26ba
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_112_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 112,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+              0.28006834547021875,
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+            "stable_success_frames": 222,
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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": [],
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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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+        "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_shake_count": 5,
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+            "held_gripper_max_dist": 0.15,
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+            "max_held_gripper_z_dist": 0.0027151271168834867,
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+            "held_object_xy_range": 0.08727831198578653,
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+            "held_grasp_geometry_required": true,
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+              0.28298111686607347,
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+            "held_grasp_object_position": [
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+              0.295749151294493,
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+            "held_grasp_finger_gap": 0.027509478383979765,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew": 0.024731365475886995,
+            "held_grasp_world_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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+              -0.9973089288309281,
+              0.014155360395034955
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004187980285028259,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036618583329871626,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3623237830374266,
+              0.07648061878079554,
+              0.7671047195863816
+            ],
+            "target_position": [
+              0.3580987199121934,
+              0.07278976479447742,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005610130262349175,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17567955519139417,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671047195863816,
+            "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": 0.07535576359727982,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08567352752418232,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1444137644085123,
+            "release_required_pad_clearance": 0.05283676376209116,
+            "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": 0.7088366507563902,
+            "object_max_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": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0a41ba6269aba20291f138a764c34321cb985ba27670c542532266b5a4f477b6",
+    "visual_seed": 340243682906492484,
+    "episode_index": 112,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_114_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_114_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c4065f7272c5f0818b629a34a9658b615690186
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              0.26383126730893525,
+              0.2976428639683199,
+              1.0525752874349328
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+              0.29246599327852274,
+              1.0549612025530135
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+              0.005176870689797164,
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+              0.26383126730893525,
+              0.27311774643149145,
+              1.0525752874349328
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+            "finger_b": [
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+              0.2976428639683199,
+              1.0525752874349328
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+              0.25756580282021846,
+              0.28538030519990565,
+              1.0525752874349328
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+              0.012262558768414256,
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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": 0.04814626261492562,
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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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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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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+              0.29572561940327224,
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+              1.2408203868896552
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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": 0.0078838493836029,
+            "max_held_gripper_dist": 0.00789975785529014,
+            "held_gripper_max_dist": 0.15,
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+            "max_held_gripper_z_dist": 0.0026763578399511267,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0871818158790198,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26972785439792857,
+              0.27463879446402073,
+              1.2408203868896552
+            ],
+            "held_grasp_finger_b": [
+              0.25951228483173605,
+              0.3003508377460293,
+              1.2408203868896552
+            ],
+            "held_grasp_midpoint": [
+              0.2646200696148323,
+              0.28749481610502503,
+              1.2408203868896552
+            ],
+            "held_grasp_object_position": [
+              0.26972785439792857,
+              0.3003508377460293,
+              1.2408203868896552
+            ],
+            "held_grasp_finger_gap": 0.02766707485979679,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024626668138050676,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09443343095054807,
+              -0.9953063294354069,
+              0.021157450336121375
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038808247279083514,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03644222471782016,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3586668506113332,
+              0.07956519565055412,
+              0.7671059230052206
+            ],
+            "target_position": [
+              0.35440385396493135,
+              0.07567319899460012,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005772415298398965,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17562429152522901,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671059230052206,
+            "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": 0.07575446379816575,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08562144623925176,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14332712060670144,
+            "release_required_pad_clearance": 0.05281072311962588,
+            "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": 0.6667563657255063,
+            "object_max_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": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8d72dd02f511424f56401fce1ef0710e001542c89a4fa237e38adc1cfd7999f4",
+    "visual_seed": 699644235859265908,
+    "episode_index": 114,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_116_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_116_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..32e5deeb7611656df640f3c1d3847eaaeefc0e15
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              0.2603911129973749,
+              0.2980115589841098,
+              1.0532526925586096
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+            "gripper_position": [
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+              0.2930675861771757,
+              1.0556977120841127
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+              0.004943972806934094,
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+            "fingertip_source": "active_contact_pad_positions",
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+              0.2603911129973749,
+              0.2734844150519122,
+              1.0532526925586096
+            ],
+            "finger_b": [
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+              0.2980115589841098,
+              1.0532526925586096
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+            "finger_midpoint": [
+              0.25439688727254695,
+              0.28574798701801096,
+              1.0532526925586096
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+              0.01226357196609884,
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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": 0.0485052221430238,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7377158945058043,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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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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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "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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+              0.2603342984835303,
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+              1.242522021148224
+            ],
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+              0.26587111732844587,
+              0.30140232245160126,
+              1.2399457865278922
+            ],
+            "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": 0.007597428534519273,
+            "max_held_gripper_dist": 0.007612411763976702,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002576234620331741,
+            "max_held_gripper_z_dist": 0.0027320574338536296,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0877797904787671,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26587111732844587,
+              0.2759426708649119,
+              1.2399457865278922
+            ],
+            "held_grasp_finger_b": [
+              0.25578535483151416,
+              0.30140232245160126,
+              1.2399457865278922
+            ],
+            "held_grasp_midpoint": [
+              0.26082823607998,
+              0.28867249665825656,
+              1.2399457865278922
+            ],
+            "held_grasp_object_position": [
+              0.26587111732844587,
+              0.30140232245160126,
+              1.2399457865278922
+            ],
+            "held_grasp_finger_gap": 0.02738460268216662,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02464652929143694,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0731690706832337,
+              -0.9970480182745556,
+              0.023270933589639498
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004108938239445193,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036659019555344285,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.36127771416237103,
+              0.07930853175730676,
+              0.7671047683483223
+            ],
+            "target_position": [
+              0.3581444657271536,
+              0.07597226045766413,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004576893263078322,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1744053176320597,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671047683483223,
+            "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": 0.07579817480161284,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08498434866387826,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14193607289720586,
+            "release_required_pad_clearance": 0.05249217433193913,
+            "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": 0.05592454452382377,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d06927ea52d71460c9651bc608168a9b3c96c1504c3e6e2508235e7d3239dfa4",
+    "visual_seed": 4700134059752878171,
+    "episode_index": 116,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_119_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_119_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..50883e4407a028759bb55d3d3065f331028bdbb7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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": [
+    {
+      "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": [
+              0.2624380376543403,
+              0.2912763436763357,
+              1.0166808197108037
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+            "initial_z": 0.7611067464333451,
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+            "gripper_z": 1.0518646858426406,
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+            "gripper_position": [
+              0.2566510838851006,
+              0.2857431364592993,
+              1.0518646858426406
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+              0.005786953769239711,
+              0.005533207217036429,
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+            "object_to_gripper_xy": 0.008006573301605483,
+            "object_to_gripper_z": -0.03518386613183688,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2624380376543403,
+              0.26572249863814945,
+              1.0383179342456907
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+            "finger_b": [
+              0.25032718385181474,
+              0.2912763436763357,
+              1.03837110623099
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+            "finger_midpoint": [
+              0.25638261075307756,
+              0.2784994211572426,
+              1.0383445202383403
+            ],
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+              0.012776922519093126,
+              -0.021663700527536633
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.021663700527536633,
+            "finger_midpoint_minus_object_z": 0.021663700527536633,
+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.8165837732219575,
+            "object_to_finger_line_xy": 0.010943976058973699,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05271553248906402,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 4.242533550797175,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 195,
+            "max_stable_success_frames": 195,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "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": [
+              0.2641541361517292,
+              0.2823412262299671,
+              1.2113199032366826
+            ],
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+              0.2702387692933477,
+              0.2860724369964965,
+              1.175904801359306
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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": 0.03612719384670368,
+            "max_held_gripper_dist": 0.03616542464642673,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.03541510187737651,
+            "max_held_gripper_z_dist": 0.03553299524030895,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08959861850021325,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2702387692933477,
+              0.25922007860393453,
+              1.197949916405856
+            ],
+            "held_grasp_finger_b": [
+              0.2632439259170214,
+              0.29255909003485514,
+              1.1969241737478349
+            ],
+            "held_grasp_midpoint": [
+              0.26674134760518453,
+              0.2758895843193948,
+              1.1974370450768455
+            ],
+            "held_grasp_object_position": [
+              0.2702387692933477,
+              0.2860724369964965,
+              1.175904801359306
+            ],
+            "held_grasp_finger_gap": 0.03408034132826248,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.032369701357288984,
+            "held_grasp_world_z_skew": 0.0010257426580211337,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.11080315906180035,
+              -0.9927211752252643,
+              0.04719457809214744
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.021142921726439737,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03820778606409069,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.35825904515275936,
+              0.0708876647431019,
+              0.7671046767224337
+            ],
+            "target_position": [
+              0.35774552460498976,
+              0.07074727882312953,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0005323641230474452,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17392322899030235,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671046767224337,
+            "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": 0.07534965525930423,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0887047557468381,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14190546599217313,
+            "release_required_pad_clearance": 0.05435237787341905,
+            "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": 3.722818471255185,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5d4774f70acca2ccbae419dc6c1d302bb202fe2b560119cc9d09041a6ada0399",
+    "visual_seed": 8176801463380189068,
+    "episode_index": 119,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_11_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..877aa997876c6053a5d1e724768c189abd1f45de
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2591987760833411,
+              0.2998277527778885,
+              1.0524857726875183
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+            "current_z": 1.0524857726875183,
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+            "lift_margin": 0.19137926467275235,
+            "gripper_z": 1.055108486850253,
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+            "gripper_position": [
+              0.2538242438364166,
+              0.29478359764421097,
+              1.055108486850253
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+              0.005374532246924468,
+              0.005044155133677508,
+              -0.0026227141627346295
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+            "object_to_gripper_xy": 0.007370827489898006,
+            "object_to_gripper_z": -0.0026227141627346295,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2591987760833411,
+              0.27520413759872403,
+              1.0524857726875183
+            ],
+            "finger_b": [
+              0.24704555935565362,
+              0.2998277527778885,
+              1.0524857726875183
+            ],
+            "finger_midpoint": [
+              0.25312216771949736,
+              0.28751594518830625,
+              1.0524857726875183
+            ],
+            "object_minus_finger_midpoint": [
+              0.006076608363843716,
+              0.012311807589582224,
+              0.0
+            ],
+            "finger_gap": 0.027459481082528128,
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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": 1.1033690529218276,
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+            "object_projection_between_fingers": 0.8041165097312812,
+            "object_to_finger_line_xy": 0.010898098583587963,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0485994931550803,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.769220807426806,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
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+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "workbench"
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+            },
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+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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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+              0.2987529905650231,
+              1.242070734881255
+            ],
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+              0.30335358833639264,
+              1.2393170888260474
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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": 0.007829143663028646,
+            "max_held_gripper_dist": 0.007844331987760609,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0027536460552075592,
+            "max_held_gripper_z_dist": 0.002913268904904731,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08815959809994756,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2647295746459082,
+              0.27779841878121825,
+              1.2393170888260474
+            ],
+            "held_grasp_finger_b": [
+              0.2544901866743886,
+              0.30335358833639264,
+              1.2393170888260474
+            ],
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+              0.2596098806601484,
+              0.2905760035588054,
+              1.2393170888260474
+            ],
+            "held_grasp_object_position": [
+              0.2647295746459082,
+              0.30335358833639264,
+              1.2393170888260474
+            ],
+            "held_grasp_finger_gap": 0.027530197184637308,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024649273550454914,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07985258882633721,
+              -0.9965465160774675,
+              0.02277290828141743
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040937094887160555,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03657797165734451,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3650318503722767,
+              0.07725401522915125,
+              0.7671049027778519
+            ],
+            "target_position": [
+              0.361679242485541,
+              0.07407805102980698,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004618087075588639,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17379298762025974,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671049027778519,
+            "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": 0.07550439169805012,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.086047495346104,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14226796643439238,
+            "release_required_pad_clearance": 0.053023747673052,
+            "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": 1.0615717425154252,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "437781cc33830109b538868c9b80d1a4ff97f1ed381b9aa08a97b08787b95f35",
+    "visual_seed": 5838960472648913792,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_120_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_120_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..73bf862ae5bc167b88faaf2866dc0b7115ddf156
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              0.2593369069822876,
+              0.2972806448570042,
+              1.0504035133544714
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+            "lift_margin": 0.1892967669211263,
+            "gripper_z": 1.0530800742817301,
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+            "gripper_position": [
+              0.2538228600895084,
+              0.29220210939880314,
+              1.0530800742817301
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+              0.005514046892779234,
+              0.005078535458201028,
+              -0.0026765609272587643
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+            "object_to_gripper_xy": 0.007496414845509382,
+            "object_to_gripper_z": -0.0026765609272587643,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2593369069822876,
+              0.2725275657687509,
+              1.0504035133544714
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+            "finger_b": [
+              0.24717279152736055,
+              0.2972806448570042,
+              1.0504035133544714
+            ],
+            "finger_midpoint": [
+              0.2532548492548241,
+              0.2849041053128776,
+              1.0504035133544714
+            ],
+            "object_minus_finger_midpoint": [
+              0.006082057727463508,
+              0.012376539544126597,
+              0.0
+            ],
+            "finger_gap": 0.027580439248679776,
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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": 1.1009296611136405,
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+            "fingertip_min_top_clearance": 0.015157844327750757,
+            "object_projection_between_fingers": 0.8054824861701645,
+            "object_to_finger_line_xy": 0.01091713258007181,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048209107451919433,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5106163349025278,
+            "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_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",
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+                "fr3_rightfinger",
+                "franka",
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+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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": [
+              0.25892595006611907,
+              0.29611491943585716,
+              1.243285937848861
+            ],
+            "held_position": [
+              0.26476158235106806,
+              0.30077555966838265,
+              1.2405276491197863
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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": 0.007961427526211281,
+            "max_held_gripper_dist": 0.007976193161826392,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002758288729074687,
+            "max_held_gripper_z_dist": 0.002917634264497204,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0868060680727527,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26476158235106806,
+              0.27517118615727426,
+              1.2405276491197863
+            ],
+            "held_grasp_finger_b": [
+              0.25428036942973886,
+              0.30077555966838265,
+              1.2405276491197863
+            ],
+            "held_grasp_midpoint": [
+              0.25952097589040346,
+              0.28797337291282843,
+              1.2405276491197863
+            ],
+            "held_grasp_object_position": [
+              0.26476158235106806,
+              0.30077555966838265,
+              1.2405276491197863
+            ],
+            "held_grasp_finger_gap": 0.02766658213799795,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024788136407983545,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0712875305600094,
+              -0.997302909338529,
+              0.01746410637740647
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0043205952198447466,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03657900207966806,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3609951978099146,
+              0.08094446351154827,
+              0.7671053533744808
+            ],
+            "target_position": [
+              0.3569651137541569,
+              0.07724307526437844,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005471914879889811,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17651664900485803,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671053533744808,
+            "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": 0.07577402800759526,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08504197061048101,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.144193385411887,
+            "release_required_pad_clearance": 0.052520985305240506,
+            "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": 0.08679363829094053,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "55885118aeb7489b99c597d23c1b148f3e0cadc6566dedb7a95203231344328a",
+    "visual_seed": 6094500898071682742,
+    "episode_index": 120,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_121_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_121_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..53f0b94da3fee839811e25112f72afc884874f85
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.26238772663490584,
+              0.3007284104059808,
+              1.0515409403814773
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+            "current_z": 1.0515409403814773,
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+            "lift_margin": 0.1904344323667111,
+            "gripper_z": 1.0537421643174691,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25706279731833725,
+              0.2957199908374666,
+              1.0537421643174691
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+              0.005324929316568583,
+              0.005008419568514222,
+              -0.0022012239359918695
+            ],
+            "object_to_gripper_xy": 0.007310207849352011,
+            "object_to_gripper_z": -0.0022012239359918695,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26238772663490584,
+              0.2761403121453098,
+              1.0515409403814773
+            ],
+            "finger_b": [
+              0.25028045590469994,
+              0.3007284104059808,
+              1.0515409403814773
+            ],
+            "finger_midpoint": [
+              0.2563340912698029,
+              0.2884343612756453,
+              1.0515409403814773
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060536353651029495,
+              0.012294049130335494,
+              0.0
+            ],
+            "finger_gap": 0.027407308890347336,
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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": 1.0515409403814773,
+            "object_top_z": 1.1017300645459887,
+            "finger_top_clearance": 0.05018912416451138,
+            "fingertip_min_top_clearance": 0.015056737249353414,
+            "object_projection_between_fingers": 0.8048539708842503,
+            "object_to_finger_line_xy": 0.010861874968238669,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04788820544206358,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3538161292603781,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              1.0
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+                "elbow_joint",
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+                "finger",
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+                "fr3_duo_mobile",
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+                "fr3_joint2",
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+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
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+                "gripper",
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+                "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",
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+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
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+                "wrist_2_joint",
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+                "base_link",
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
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+      "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": [
+              0.2624012502372275,
+              0.29935490769748163,
+              1.2441229790199044
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+              0.3039103726978918,
+              1.2418351217461794
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+            "required_gripper_z": 0.8974145980897915,
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+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007636629622188068,
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002287857273725047,
+            "max_held_gripper_z_dist": 0.0024487196326097305,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08727525211867337,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2680873349808434,
+              0.278326398041284,
+              1.2418351217461794
+            ],
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+              0.25788863828657665,
+              0.3039103726978918,
+              1.2418351217461794
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+              0.26298798663371004,
+              0.2911183853695879,
+              1.2418351217461794
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+              0.3039103726978918,
+              1.2418351217461794
+            ],
+            "held_grasp_finger_gap": 0.02754184404667917,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024681285268754852,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08015496821675068,
+              -0.9966692752156209,
+              0.015017886380604414
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040622902242974344,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0365621312263364,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.36642772721218053,
+              0.07808658931435397,
+              0.7671071388250771
+            ],
+            "target_position": [
+              0.36171608826475266,
+              0.074264901956461,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006066698923829846,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17760146415422107,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671071388250771,
+            "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": 0.07560732266761344,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08528457769968954,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14564916117207127,
+            "release_required_pad_clearance": 0.05264228884984477,
+            "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": 0.33329991552656246,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c20c25ece42380d71eef5e2752c069836dcf3c2afcb4072f08d8a84667b5a3e6",
+    "visual_seed": 1739350734419663129,
+    "episode_index": 121,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_124_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_124_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..34526dbe798cf5c1609d3c08f9377a4478f5413f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
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+          "metrics": {
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+              0.25912254898043074,
+              0.29230951348059464,
+              1.0508061199388687
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+            "lift_margin": 0.18969949271481312,
+            "gripper_z": 1.0537109762952919,
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+            "gripper_position": [
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+              0.2874281117460954,
+              1.0537109762952919
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+              0.004881401734499247,
+              -0.0029048563564231245
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+            "object_to_gripper_xy": 0.007116574368071756,
+            "object_to_gripper_z": -0.0029048563564231245,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25912254898043074,
+              0.267738323950979,
+              1.0508061199388687
+            ],
+            "finger_b": [
+              0.24731519864330795,
+              0.29230951348059464,
+              1.0508061199388687
+            ],
+            "finger_midpoint": [
+              0.25321887381186936,
+              0.2800239187157868,
+              1.0508061199388687
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+            "object_minus_finger_midpoint": [
+              0.005903675168561384,
+              0.012285594764807839,
+              0.0
+            ],
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
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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",
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+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
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+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+            },
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "shake",
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+      "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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+            "gripper_position": [
+              0.2589728353098112,
+              0.2912989651960653,
+              1.2417439661000302
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+              0.26443868373960044,
+              0.295789531047952,
+              1.2387168691156063
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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": 0.0076944133551993,
+            "max_held_gripper_dist": 0.0077122703075071615,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003027096984423938,
+            "max_held_gripper_z_dist": 0.003175155950265518,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08779515922554215,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26443868373960044,
+              0.2703795363777159,
+              1.2387168691156063
+            ],
+            "held_grasp_finger_b": [
+              0.2543791155888626,
+              0.295789531047952,
+              1.2387168691156063
+            ],
+            "held_grasp_midpoint": [
+              0.25940889966423153,
+              0.28308453371283393,
+              1.2387168691156063
+            ],
+            "held_grasp_object_position": [
+              0.26443868373960044,
+              0.295789531047952,
+              1.2387168691156063
+            ],
+            "held_grasp_finger_gap": 0.027328789591212554,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024677827281380748,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06580376808777655,
+              -0.9972369179878935,
+              0.03447308381125225
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004206308949941912,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03671937893975035,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.36020174828048157,
+              0.08018867596456418,
+              0.7671081835355067
+            ],
+            "target_position": [
+              0.358237084411883,
+              0.0775764673134349,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003268568211558589,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17080478446193811,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671081835355067,
+            "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": 0.0758989197250315,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08555079289429555,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13820533916679123,
+            "release_required_pad_clearance": 0.05277539644714778,
+            "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": 0.5974125878077586,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 136,
+            "max_placed_release_frames": 136
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ca4479ccbe96d66163aac0f756cd783d2154982c4552435fb602d822f5bd063e",
+    "visual_seed": 6393405255989536759,
+    "episode_index": 124,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_125_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_125_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffa4e293e310be122c727667b10101fa60afee46
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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": [
+    {
+      "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": [
+              0.2620685472507759,
+              0.3001557072363348,
+              1.0500558264858078
+            ],
+            "current_z": 1.0500558264858078,
+            "required_z": 0.8611066868287005,
+            "initial_z": 0.7611066868287005,
+            "lift_margin": 0.18894913965710725,
+            "gripper_z": 1.053516481994686,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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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",
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+                "left_inner_finger",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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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": [
+              0.26103758107183106,
+              0.2992868203532525,
+              1.240705773815943
+            ],
+            "held_position": [
+              0.2671301033996345,
+              0.30412851060339796,
+              1.237136671716542
+            ],
+            "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": 0.008561500019802978,
+            "max_held_gripper_dist": 0.00858020751519434,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003569102099401089,
+            "max_held_gripper_z_dist": 0.003746036256303098,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0874984557660492,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2671301033996345,
+              0.27846165788058364,
+              1.237136671716542
+            ],
+            "held_grasp_finger_b": [
+              0.2562572998239344,
+              0.30412851060339796,
+              1.237136671716542
+            ],
+            "held_grasp_midpoint": [
+              0.26169370161178446,
+              0.2912950842419908,
+              1.237136671716542
+            ],
+            "held_grasp_object_position": [
+              0.2671301033996345,
+              0.30412851060339796,
+              1.237136671716542
+            ],
+            "held_grasp_finger_gap": 0.027874812757943283,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025232057350229972,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0381768972249714,
+              -0.9992322600616306,
+              0.00879857774870063
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004943808767794918,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03668913149032327,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.36438276857742813,
+              0.08088306816151161,
+              0.7671047833939909
+            ],
+            "target_position": [
+              0.3610866174084761,
+              0.07762479007844741,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004634758741850586,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17603334529563366,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671047833939909,
+            "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": 0.07544898977702393,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08688797032907251,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14448125960181102,
+            "release_required_pad_clearance": 0.05344398516453626,
+            "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": 1.8999498876316232,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f5f679fcb1328abf6dbf448ecc5b7f764252213119bd43d73e07ec67eaa13724",
+    "visual_seed": 7196286455621454602,
+    "episode_index": 125,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_126_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_126_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..11bbbdc67ecf24dec0ca91d3653266d71bd05d38
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_126_success.json
@@ -0,0 +1,686 @@
+{
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+  "success": true,
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+    "task_island_state_digest": "9888f90a1fc764d1e3274270bf64103a6f633a34aa012d362a6a459597194d4a",
+    "visual_seed": 5053737184058558970,
+    "episode_index": 126,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_128_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_128_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b74d04c405418756f8c16532c930cfdc13e3482
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_128_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 128,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+              1.0507598343230993
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+              1.0533801152514084
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+              0.005125260909802254,
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+              0.269387068843548,
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+              0.29388544515538617,
+              1.0507598343230993
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+              0.2816362569994671,
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+              0.012249188155919077,
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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": {
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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,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
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+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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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+              0.29224066156586237,
+              1.2423918429479648
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+              0.296850243360416,
+              1.239664193313402
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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": 0.00787366128421949,
+            "max_held_gripper_dist": 0.007888773609236234,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0027276496345627343,
+            "max_held_gripper_z_dist": 0.002883130833367442,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08758635446542787,
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+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.28403742801442644,
+              1.239664193313402
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+              0.296850243360416,
+              1.239664193313402
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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": 0.02460518158027493,
+            "held_grasp_world_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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+              0.029213666885607448
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+            "held_grasp_object_to_finger_line_xy": 0.0039935526800590785,
+            "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": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "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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+              "failed_keys": []
+            },
+            "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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+            "force_virtual_attach": false,
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+            "object_tilt_deg": 1.1076707938159531,
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+            "object_axis_flip_tolerance_deg": 3.0,
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "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",
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+                "link0",
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+                "wheel",
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "771f18af1c40dd61e60de44654217585ba9aee84e81c1c7373402dbff3d0d387",
+    "visual_seed": 6076292596848917859,
+    "episode_index": 128,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
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+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_129_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_129_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..20f02bd2acb953748c80a10df13a91e6be7bc385
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_129_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 129,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+            "stable_success_frames": 223,
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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": [
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+                "Robotiq2F85",
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+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
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+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "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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+            },
+            "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": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
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+          "passed": true,
+          "metrics": {
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
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+          "safety": {
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+              "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",
+                "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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+    {
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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": 0.1426901540988316,
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+            "virtual_attach_allowed": false,
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+            "object_tilt_deg": 0.18971978025378425,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "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"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5df9a6d21eccd1baa21cc0302d61185a0f287021f1076a2a9373250478662bc7",
+    "visual_seed": 5733144200031795172,
+    "episode_index": 129,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_130_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_130_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd5c82470f57b4b5c7b9ce86a0dad06106731af0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_130_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 130,
+  "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": 225,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              ],
+              "allowed_object_paths": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+    },
+    {
+      "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": 0.0028409774182285297,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_a",
+              "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",
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+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+                  "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": 139,
+            "max_placed_release_frames": 139
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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",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1d1797e849225dc74c226ea4ba01c7f2807fbf2371d24aa76aa99e7282b7855e",
+    "visual_seed": 1501120455942909622,
+    "episode_index": 130,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_132_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_132_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..de4d7b774b7b5c37b9f97a1a99095d27972425b1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_132_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 132,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "reason": "executed",
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+              1.0526298891271235
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+              0.28008648582040524,
+              1.0526298891271235
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+              0.01225091496676034,
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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": 225,
+            "max_stable_success_frames": 225,
+            "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": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+          }
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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",
+      "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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+              0.29102407831906335,
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+              0.29560333398481836,
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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": 0.0027109331207921805,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08734639972966673,
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+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.2828233575880016,
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+              0.29560333398481836,
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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": 0.0246048329073614,
+            "held_grasp_world_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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+              -0.9962845862461659,
+              0.01878361039917886
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040321392872556955,
+            "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": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "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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+                {
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+                  "b": "/World/beaker_2/mesh"
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+              "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": {
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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": 0.08598090858883277,
+            "release_gap_margin": 0.02,
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+            "release_min_pad_clearance": 0.14238506891975589,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.014125251916106,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 132,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "59e61cc5055356c67537b3bf31be9e366743def6802a56a9d0e22a21397503a9",
+    "visual_seed": 233745398389479001,
+    "episode_index": 132,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_133_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_133_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8923353575598d3af26a52296184d68dbea75601
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_133_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 133,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.2998035697348739,
+              1.049276270328967
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+              0.005157301642468359,
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+            "object_to_gripper_z": -0.0025612306371909366,
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+              0.2752826485208168,
+              1.049276270328967
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+              1.049276270328967
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+              0.2875431091278453,
+              1.049276270328967
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+            "fingertip_z_max_dist": 0.1,
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+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "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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+              "source_missing": false,
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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",
+      "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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+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_dist": 0.007907221080544629,
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+            "max_held_gripper_z_dist": 0.0028073679472200297,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08792545110515443,
+            "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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+              1.239984962437914
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+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024660405095751122,
+            "held_grasp_world_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": 0.004079326880956893,
+            "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"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "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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+                {
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+                  "b": "/World/beaker_2/mesh"
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+              "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": {
+        "arm": null,
+        "checker": {
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+          "passed": true,
+          "metrics": {
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+            "gripper_dist": 0.17436445690604968,
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+            "gripper_away_ok": true,
+            "object_z": 0.7671036224831788,
+            "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": 0.0753874059290165,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08622562924260156,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14317780357460153,
+            "release_required_pad_clearance": 0.05311281462130078,
+            "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": 1.241078870153373,
+            "object_max_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": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ad8f7858834bc4e2fe508a1c345653f745507992924c1f066348d8f73ec431da",
+    "visual_seed": 7053104996750771362,
+    "episode_index": 133,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_13_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c93fdaa4eb2d9b1fffe70ebb11c8d6e9026cf8d1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
+      "success": true,
+      "reason": "executed",
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+              1.0523373549148758
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+            "gripper_z": 1.0549695732045787,
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+            "gripper_position": [
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+              0.29077694893508105,
+              1.0549695732045787
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+              0.005092739740596375,
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+              0.27134090486890394,
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+              1.0523373549148758
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+              0.2836052967722907,
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+              0.0,
+              1.0
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+            "stable_success_frames": 225,
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+            "required_stable_lift_frames": 5
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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/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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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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+              0.2941432013340703,
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+            "held_shake_count": 5,
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+            "max_held_gripper_dist": 0.007876441836288798,
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+            "max_held_gripper_z_dist": 0.002885266544059961,
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+            "held_object_xy_range": 0.0871593739440451,
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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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+              0.2987191276441741,
+              1.2418056286592591
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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": 0.024680075852200323,
+            "held_grasp_world_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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+              0.02273009623862665
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003989391327738311,
+            "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": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "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"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
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+        },
+        "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": [
+              0.3585960767099809,
+              0.08233859972775803,
+              0.7671053646321556
+            ],
+            "target_position": [
+              0.3547511079486515,
+              0.07867780701692162,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005308972409733535,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17605779682236739,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671053646321556,
+            "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": 0.07535367162393063,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0861871118590568,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1447112777207621,
+            "release_required_pad_clearance": 0.0530935559295284,
+            "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": 1.2045991250694703,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "40a106691ab2c1d0e48e036528d466368af4af0243ea7e5ae4c3d5420f0674a8",
+    "visual_seed": 3992504705786644009,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_15_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ceb712816684f8481cadef8f34cfa81e0d2732b1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.26686150417365173,
+              0.2936636803680534,
+              1.0526419217959075
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+            "current_z": 1.0526419217959075,
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+            "lift_margin": 0.19153529457185214,
+            "gripper_z": 1.055010679323785,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26155780158621145,
+              0.2887583298516645,
+              1.055010679323785
+            ],
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+              0.005303702587440284,
+              0.004905350516388907,
+              -0.002368757527877463
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+            "object_to_gripper_xy": 0.007224384044654442,
+            "object_to_gripper_z": -0.002368757527877463,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.26686150417365173,
+              0.26896446811783786,
+              1.0526419217959075
+            ],
+            "finger_b": [
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+              0.2936636803680534,
+              1.0526419217959075
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+            "finger_midpoint": [
+              0.2609626600635093,
+              0.28131407424294563,
+              1.0526419217959075
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+            "object_minus_finger_midpoint": [
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+              0.01234960612510777,
+              0.0
+            ],
+            "finger_gap": 0.027372185391821447,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.010645609813155304,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04872518365256981,
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+            "object_tilt_deg": 0.854175410010307,
+            "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",
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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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": [
+              0.26685390497289174,
+              0.292613107905538,
+              1.24546768181808
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+            "held_position": [
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+              0.29713674898403747,
+              1.2430107045473635
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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": 0.00760459822656164,
+            "max_held_gripper_dist": 0.007618110128633351,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002456977270716587,
+            "max_held_gripper_z_dist": 0.0026136289807652258,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08790088023673814,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27245121220686763,
+              0.27162597089544027,
+              1.2430107045473635
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+              0.29713674898403747,
+              1.2430107045473635
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+              0.2843813599397389,
+              1.2430107045473635
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+            "held_grasp_object_position": [
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+              0.29713674898403747,
+              1.2430107045473635
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+            "held_grasp_finger_gap": 0.027460836497876204,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02476655048799322,
+            "held_grasp_world_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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+              -0.9974650476544176,
+              0.024349590056961915
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004229272628395779,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0366574158322478,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3603432558081048,
+              0.07441006818814327,
+              0.7671072668774035
+            ],
+            "target_position": [
+              0.35668977202397856,
+              0.07082007045665968,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005122111622459101,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1731180662413387,
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+            "gripper_away_ok": true,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580270652927265,
+            "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": 0.14084891293536114,
+            "release_required_pad_clearance": 0.05276895078931236,
+            "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": 0.5814681690212757,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ef18116723c7bfeaacd071523d71a317ccb21586cca1616f6907698a8f9db992",
+    "visual_seed": 9189767049365366450,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_16_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..055c85b4f3861d450bcd0e88093c76ac91c45fa4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_16_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+              0.2864444482458919,
+              1.0514654935012047
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+            "stable_success_frames": 224,
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+            "required_stable_lift_frames": 5
+          },
+          "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": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
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+          }
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
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+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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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_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": 0.004121276591410969,
+            "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_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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3611843352278783,
+              0.07574325090066172,
+              0.7671071506882046
+            ],
+            "target_position": [
+              0.358401156114438,
+              0.07268576371110973,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004134527045716934,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17288819892386972,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671071506882046,
+            "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": 0.07527958402311663,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08633626541596028,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14188852852874867,
+            "release_required_pad_clearance": 0.05316813270798014,
+            "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": 1.3509985901916766,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cfdfdb3d6ff3f98716f439d30d97181f193c20caf0f43ea2192838f2225b9ee3",
+    "visual_seed": 2191382835278460415,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_17_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c35716401c31c283c08e7ef76d9a67dc39a7c92f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              0.2667361810174542,
+              0.3008420893168409,
+              1.0509096471905734
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+            "gripper_z": 1.05296977766173,
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+              0.26119647904911525,
+              0.295699667810975,
+              1.05296977766173
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+              0.005142421505865913,
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+            "object_to_gripper_z": -0.002060130471156496,
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+              0.2761435179964793,
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+            "finger_midpoint": [
+              0.2605603788171751,
+              0.2884928036566601,
+              1.0509096471905734
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+              0.006175802200279135,
+              0.012349285660180842,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04755101154056021,
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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": 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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+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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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_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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+              0.29946987097687555,
+              1.2405862202242137
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+              0.3041533108603313,
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+            "object_initial_z": 0.7774145980897915,
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+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00784234863624274,
+            "max_held_gripper_dist": 0.007854947583594566,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0021894720898949505,
+            "max_held_gripper_z_dist": 0.0023576492761334666,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0879103939373968,
+            "held_object_min_xy_range": 0.04,
+            "held_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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+              0.2784947724874216,
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+              0.2913240416738765,
+              1.2383967481343188
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+            "held_grasp_object_position": [
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+              1.2383967481343188
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+            "held_grasp_finger_gap": 0.027690100277227892,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024749270361061053,
+            "held_grasp_world_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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+              -0.9967851056398177,
+              0.01060292962401077
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0041723002777170224,
+            "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",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.36042302010286686,
+              0.07937743204766218,
+              0.7671071207287147
+            ],
+            "target_position": [
+              0.3553339225058255,
+              0.07509197752051745,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006653122188599668,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17490501356293595,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671071207287147,
+            "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": 0.07564697482603175,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0853793070401294,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14312204726799604,
+            "release_required_pad_clearance": 0.0526896535200647,
+            "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": 0.4315942055476227,
+            "object_max_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": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0b320c56d1427dc333ec627f870482b62dab9806d79c893309bda8ebb05e9d96",
+    "visual_seed": 8598067216080214966,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_19_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4ae4dc3ec4190140812d343b2b0c53a12ee4994
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              0.2994604455182043,
+              1.0494054837350184
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+              0.2944368844578022,
+              1.0517445870686213
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+              0.005023561060402082,
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+              0.27496238416754915,
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+              1.0494054837350184
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+              0.2872114148428767,
+              1.0494054837350184
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+              0.012249030675327566,
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+              0.0,
+              1.0
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+            "stable_success_frames": 222,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "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,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_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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+              0.29824714396807483,
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+              1.2396920668677252
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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": 0.007641258896046312,
+            "max_held_gripper_dist": 0.007654322325060904,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0024169440506984774,
+            "max_held_gripper_z_dist": 0.002571775354511807,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0867880135987808,
+            "held_object_min_xy_range": 0.04,
+            "held_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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+              0.27728517823772986,
+              1.2396920668677252
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+            "held_grasp_finger_b": [
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+              0.30281428116982256,
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+            "held_grasp_midpoint": [
+              0.2581311132467956,
+              0.2900497297037762,
+              1.2396920668677252
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+            "held_grasp_object_position": [
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+              0.30281428116982256,
+              1.2396920668677252
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+            "held_grasp_finger_gap": 0.02751209195907843,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02459323839656594,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08244497329659252,
+              -0.996461657536926,
+              0.016339872609240302
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004063571687854889,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03657809704523414,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3609812355274541,
+              0.08153602804001103,
+              0.7671056969759694
+            ],
+            "target_position": [
+              0.356962354325551,
+              0.077738426737729,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005529302104796238,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.173022514500378,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671056969759694,
+            "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": 0.07541079787846179,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08615638791467332,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14181536848515566,
+            "release_required_pad_clearance": 0.053078193957336664,
+            "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": 1.1803288788186583,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7825bdf678f36ade432b59d1eac40994e2341641037da08dd147b8b4ec5efe1a",
+    "visual_seed": 7367253274384017780,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_1_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..af6952364e4c5203dacdff741d4e2f554afe5d5e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_1_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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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",
+          "target": "beaker_a",
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+          "metrics": {
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+              0.26498604892394767,
+              0.294731903348443,
+              1.0514636810001965
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+              0.2896883710542696,
+              1.053944356682649
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+              0.005043532294173425,
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+            "object_to_gripper_z": -0.002480675682452471,
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+              0.2703599327798555,
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+              0.25266740153548034,
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+              1.0514636810001965
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+              0.258826725229714,
+              0.28254591806414925,
+              1.0514636810001965
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+            "fingertip_z_max_dist": 0.1,
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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": {
+            "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": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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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+              0.29339889897700544,
+              1.2445726669623864
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+              0.2979500820818554,
+              1.2420036418591773
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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": 0.0076669998148442085,
+            "max_held_gripper_dist": 0.007681237005686666,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0025690251032091105,
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+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0878656825288357,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2706247567913123,
+              0.2724262769509379,
+              1.2420036418591773
+            ],
+            "held_grasp_finger_b": [
+              0.260427696267536,
+              0.2979500820818554,
+              1.2420036418591773
+            ],
+            "held_grasp_midpoint": [
+              0.26552622652942415,
+              0.28518817951639663,
+              1.2420036418591773
+            ],
+            "held_grasp_object_position": [
+              0.2706247567913123,
+              0.2979500820818554,
+              1.2420036418591773
+            ],
+            "held_grasp_finger_gap": 0.027485353766808402,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024570886012967204,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08350391515511149,
+              -0.9960262727042022,
+              0.030963853712714484
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040351011736653175,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0365833125868025,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3652850144840584,
+              0.0812706131170638,
+              0.7671040443764953
+            ],
+            "target_position": [
+              0.3625388695719898,
+              0.07831197723753869,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004036686530521515,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17552374515378763,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671040443764953,
+            "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": 0.07550918653006759,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08624177865068126,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14377123081816223,
+            "release_required_pad_clearance": 0.053120889325340634,
+            "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": 1.2554948143445186,
+            "object_max_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": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eb0e3a50dbd4d1b7d110aebf0ef0870ff16c9e25c10bf9060d3684b279b6b849",
+    "visual_seed": 4425533564530859277,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_20_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cbaa7e5b041b011560d4eaddafe613a43340b97
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.26130589902196477,
+              0.2932437850981124,
+              1.0500553236259074
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+            "current_z": 1.0500553236259074,
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+            "lift_margin": 0.1889486367972073,
+            "gripper_z": 1.052550843245426,
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+            "gripper_position": [
+              0.255918118776738,
+              0.288341846448796,
+              1.052550843245426
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+              0.005387780245226792,
+              0.004901938649316373,
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+            "object_to_gripper_z": -0.00249551961951866,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.26130589902196477,
+              0.2684261364690706,
+              1.0500553236259074
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+            "finger_b": [
+              0.24958916525867783,
+              0.2932437850981124,
+              1.0500553236259074
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+            "finger_midpoint": [
+              0.2554475321403213,
+              0.2808349607835915,
+              1.0500553236259074
+            ],
+            "object_minus_finger_midpoint": [
+              0.005858366881643484,
+              0.012408824314520894,
+              0.0
+            ],
+            "finger_gap": 0.027444444493454918,
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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": 0.8177345995386931,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04864761471542793,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7907912533151483,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "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": [
+              0.261041281671627,
+              0.29208816591380726,
+              1.241855094393791
+            ],
+            "held_position": [
+              0.266691921681661,
+              0.29663363375985374,
+              1.2392581962191351
+            ],
+            "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": 0.007702914421955516,
+            "max_held_gripper_dist": 0.007717647996351137,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002596898174655804,
+            "max_held_gripper_z_dist": 0.002748809895726012,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08733584345889797,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.266691921681661,
+              0.27110428163310446,
+              1.2392581962191351
+            ],
+            "held_grasp_finger_b": [
+              0.25649448930445706,
+              0.29663363375985374,
+              1.2392581962191351
+            ],
+            "held_grasp_midpoint": [
+              0.26159320549305903,
+              0.28386895769647913,
+              1.2392581962191351
+            ],
+            "held_grasp_object_position": [
+              0.266691921681661,
+              0.29663363375985374,
+              1.2392581962191351
+            ],
+            "held_grasp_finger_gap": 0.02749064290079818,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02480676549611694,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06494245899038029,
+              -0.9976364344708389,
+              0.022450426200723902
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004268863837816415,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036654620988072845,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.36137296154524656,
+              0.07310237092498412,
+              0.7671056129713668
+            ],
+            "target_position": [
+              0.3578479106227103,
+              0.0697564240804694,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004860179450677883,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1751926276355065,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671056129713668,
+            "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": 0.07559383046419713,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08510995036093404,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.143346928439473,
+            "release_required_pad_clearance": 0.05255497518046702,
+            "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": 0.176938305742053,
+            "object_max_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": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aeae7239b5df3fcf7c14eeecb3331c245efc3b76a527b8825ddb65460287a000",
+    "visual_seed": 888119222775981194,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_21_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bfde467389a63eede5fc16974d08e766a5b4690
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_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": [
+              0.2658974533022693,
+              0.2977344472973301,
+              1.0512148012152784
+            ],
+            "current_z": 1.0512148012152784,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.19010805478193338,
+            "gripper_z": 1.0533165972183276,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2605996362255471,
+              0.29279425697558253,
+              1.0533165972183276
+            ],
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+              0.005297817076722222,
+              0.004940190321747584,
+              -0.002101796003049161
+            ],
+            "object_to_gripper_xy": 0.007243779827790053,
+            "object_to_gripper_z": -0.002101796003049161,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2658974533022693,
+              0.2730857294645682,
+              1.0512148012152784
+            ],
+            "finger_b": [
+              0.2539931164822586,
+              0.2977344472973301,
+              1.0512148012152784
+            ],
+            "finger_midpoint": [
+              0.259945284892264,
+              0.28541008838094917,
+              1.0512148012152784
+            ],
+            "object_minus_finger_midpoint": [
+              0.005952168410005343,
+              0.01232435891638095,
+              0.0
+            ],
+            "finger_gap": 0.027372842854248406,
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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": 1.0512148012152784,
+            "object_top_z": 1.1010520226022233,
+            "finger_top_clearance": 0.04983722138694491,
+            "fingertip_min_top_clearance": 0.014951166416083439,
+            "object_projection_between_fingers": 0.8108655659706447,
+            "object_to_finger_line_xy": 0.010719626047795087,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04771379029827057,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3356152834842851,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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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": [
+              0.26589837533180205,
+              0.29657354144615644,
+              1.2439238817837306
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+              0.3011050372262535,
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+            "required_gripper_z": 0.8974145980897915,
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+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007543692650710203,
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0021816076945633256,
+            "max_held_gripper_z_dist": 0.002341133960143349,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08790205557934838,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27152095771629087,
+              0.27556461259554044,
+              1.2417422740891673
+            ],
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+              0.2613513004026322,
+              0.3011050372262535,
+              1.2417422740891673
+            ],
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+              0.28833482491089696,
+              1.2417422740891673
+            ],
+            "held_grasp_object_position": [
+              0.27152095771629087,
+              0.3011050372262535,
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+            ],
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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": 0.024689724558188988,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07620704429620367,
+              -0.9970360497822801,
+              0.010564176928820057
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040991500680151415,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03660038826562137,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3688509962617836,
+              0.07392863430464489,
+              0.7671054312054726
+            ],
+            "target_position": [
+              0.36411824372349894,
+              0.07000451914223373,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006147977423226677,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.174037615787234,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671054312054726,
+            "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": 0.07572127293646158,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08506365916649604,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14201556016150568,
+            "release_required_pad_clearance": 0.05253182958324802,
+            "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": 0.12499176044615054,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 138,
+            "max_placed_release_frames": 138
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bb58be0af696cf4214c64a688fbae9cb9948d89c902b47974382afdba3eedbec",
+    "visual_seed": 6224427997164137463,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_23_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ced27b5d4d3c4447038815e82409138468d364b3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2639746896449048,
+              0.30243501837373343,
+              1.0493011158695067
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+            "current_z": 1.0493011158695067,
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+            "lift_margin": 0.1881944290408063,
+            "gripper_z": 1.0518119031733002,
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+            "gripper_position": [
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+              0.2974027156233498,
+              1.0518119031733002
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+              0.005437013985677419,
+              0.005032302750383633,
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+            "object_to_gripper_xy": 0.007408454093262003,
+            "object_to_gripper_z": -0.0025107873037935047,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2639746896449048,
+              0.2777265217100475,
+              1.0493011158695067
+            ],
+            "finger_b": [
+              0.2518885983384369,
+              0.30243501837373343,
+              1.0493011158695067
+            ],
+            "finger_midpoint": [
+              0.25793164399167084,
+              0.2900807700418905,
+              1.0493011158695067
+            ],
+            "object_minus_finger_midpoint": [
+              0.006043045653233936,
+              0.012354248331842954,
+              0.0
+            ],
+            "finger_gap": 0.027506061340142027,
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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": 1.0493011158695067,
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+            "fingertip_min_top_clearance": 0.015242752132369036,
+            "object_projection_between_fingers": 0.8069299418264414,
+            "object_to_finger_line_xy": 0.010856848715270224,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048376097528293985,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6507295873908008,
+            "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_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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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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": [
+              0.263711343415695,
+              0.3011743286107976,
+              1.2419239134128597
+            ],
+            "held_position": [
+              0.269475907059445,
+              0.3057816984601691,
+              1.2393261154049942
+            ],
+            "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": 0.007823465052098834,
+            "max_held_gripper_dist": 0.00783839328832781,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002597798007865526,
+            "max_held_gripper_z_dist": 0.0027634065522399442,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08785130513445216,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.269475907059445,
+              0.2801860735474671,
+              1.2393261154049942
+            ],
+            "held_grasp_finger_b": [
+              0.2591378969435798,
+              0.3057816984601691,
+              1.2393261154049942
+            ],
+            "held_grasp_midpoint": [
+              0.2643069020015124,
+              0.2929838860038181,
+              1.2393261154049942
+            ],
+            "held_grasp_object_position": [
+              0.269475907059445,
+              0.3057816984601691,
+              1.2393261154049942
+            ],
+            "held_grasp_finger_gap": 0.027604537087722793,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024791448283323664,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07101843477755272,
+              -0.9972656525295321,
+              0.020435268693931752
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004255348404813811,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03659033663128998,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.35844369245896834,
+              0.08077219985820092,
+              0.7671042658618449
+            ],
+            "target_position": [
+              0.355334633351098,
+              0.07742332827621333,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0045695940091955226,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17382277286728212,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671042658618449,
+            "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": 0.07554801830702966,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08537450659035765,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14202022183263935,
+            "release_required_pad_clearance": 0.05268725329517883,
+            "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": 0.4010700378212046,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "700fdd4e038f9a7d137173f2e639485da72379900793a2a84d9db75192f6c582",
+    "visual_seed": 1557999207539742000,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_25_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a55910acae1ac5cc5c361db5805fc3734dfbf33
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_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": [
+              0.25829319839625403,
+              0.2917007875911592,
+              1.0507839604374967
+            ],
+            "current_z": 1.0507839604374967,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.1896772140041516,
+            "gripper_z": 1.0534373161148347,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25297509497319337,
+              0.28666349909657235,
+              1.0534373161148347
+            ],
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+              0.0053181034230606605,
+              0.005037288494586845,
+              -0.002653355677338043
+            ],
+            "object_to_gripper_xy": 0.007325059685495164,
+            "object_to_gripper_z": -0.002653355677338043,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25829319839625403,
+              0.2671542397088615,
+              1.0507839604374967
+            ],
+            "finger_b": [
+              0.24610370134505702,
+              0.2917007875911592,
+              1.0507839604374967
+            ],
+            "finger_midpoint": [
+              0.25219844987065554,
+              0.27942751365001034,
+              1.0507839604374967
+            ],
+            "object_minus_finger_midpoint": [
+              0.006094748525598492,
+              0.012273273941148855,
+              0.0
+            ],
+            "finger_gap": 0.027406511111396043,
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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": 1.0507839604374967,
+            "object_top_z": 1.1016053830038146,
+            "finger_top_clearance": 0.05082142256631794,
+            "fingertip_min_top_clearance": 0.015246426769895382,
+            "object_projection_between_fingers": 0.8021827920593697,
+            "object_to_finger_line_xy": 0.010917481317201229,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04839867382198952,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.65660532982974,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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": [
+              0.25806281282524035,
+              0.2905477106506365,
+              1.2414338564888094
+            ],
+            "held_position": [
+              0.26372231303267657,
+              0.2951306732568089,
+              1.238650019233866
+            ],
+            "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": 0.007796360606690522,
+            "max_held_gripper_dist": 0.007811062217771732,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0027838372549433554,
+            "max_held_gripper_z_dist": 0.0029324410470508155,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08788657628341626,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26372231303267657,
+              0.2696130443668161,
+              1.238650019233866
+            ],
+            "held_grasp_finger_b": [
+              0.2535000617290308,
+              0.2951306732568089,
+              1.238650019233866
+            ],
+            "held_grasp_midpoint": [
+              0.25861118738085365,
+              0.2823718588118125,
+              1.238650019233866
+            ],
+            "held_grasp_object_position": [
+              0.26372231303267657,
+              0.2951306732568089,
+              1.238650019233866
+            ],
+            "held_grasp_finger_gap": 0.027488976079190073,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02464542771506445,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07724993975619672,
+              -0.9967656525649453,
+              0.022151313153910498
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0041202409752498365,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036607867915183494,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3623406312992816,
+              0.0828624256469312,
+              0.7671078899900814
+            ],
+            "target_position": [
+              0.3584750900043093,
+              0.079158726843944,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005353484316441489,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1752160103117652,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671078899900814,
+            "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": 0.07552438608478765,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0859523718076715,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14351322986013249,
+            "release_required_pad_clearance": 0.05297618590383575,
+            "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": 0.9843590387886233,
+            "object_max_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": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8c0036356e23991c54b48e35a74ef59513d419c52c7a486fc4ea64d09d286056",
+    "visual_seed": 8801454825333566023,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_26_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..32120c6652285fa1d178b741a8c5ebccb67b3656
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.26767751884401947,
+              0.3025638591665494,
+              1.0511593385315798
+            ],
+            "current_z": 1.0511593385315798,
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+            "initial_z": 0.76110680603799,
+            "lift_margin": 0.1900525324935899,
+            "gripper_z": 1.0533370761876164,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2622671877110915,
+              0.2975391692482637,
+              1.0533370761876164
+            ],
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+              0.005410331132927992,
+              0.005024689918285696,
+              -0.0021777376560365713
+            ],
+            "object_to_gripper_xy": 0.007383711244547135,
+            "object_to_gripper_z": -0.0021777376560365713,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26767751884401947,
+              0.2778839879163369,
+              1.0511593385315798
+            ],
+            "finger_b": [
+              0.2555887589419978,
+              0.3025638591665494,
+              1.0511593385315798
+            ],
+            "finger_midpoint": [
+              0.26163313889300865,
+              0.2902239235414431,
+              1.0511593385315798
+            ],
+            "object_minus_finger_midpoint": [
+              0.006044379951010814,
+              0.012339935625106269,
+              0.0
+            ],
+            "finger_gap": 0.02748152399150731,
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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": 1.0511593385315798,
+            "object_top_z": 1.1014984958995264,
+            "finger_top_clearance": 0.050339157367946585,
+            "fingertip_min_top_clearance": 0.015101747210383975,
+            "object_projection_between_fingers": 0.8064995950456065,
+            "object_to_finger_line_xy": 0.010856349817019838,
+            "fingertip_xy_max_dist": 0.055,
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+                "fr3_joint5",
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+                "mobile_translate_x",
+                "mobile_translate_y",
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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",
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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/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
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+        "skill": "pick",
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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": [
+              0.2675545218866867,
+              0.3012472931002194,
+              1.239622306937781
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+            "held_position": [
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+              0.30583457613617565,
+              1.2372984296962564
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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": 0.0077027823413782955,
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+            "held_gripper_z_dist": 0.002323877241524608,
+            "max_held_gripper_z_dist": 0.002491142502637489,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08799882482310684,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27328943990815846,
+              0.2802486268466435,
+              1.2372984296962564
+            ],
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+              0.26311079174315966,
+              0.30583457613617565,
+              1.2372984296962564
+            ],
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+              0.29304160149140956,
+              1.2372984296962564
+            ],
+            "held_grasp_object_position": [
+              0.27328943990815846,
+              0.30583457613617565,
+              1.2372984296962564
+            ],
+            "held_grasp_finger_gap": 0.027536261175282045,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02475941784658887,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07393433100458964,
+              -0.997108573166629,
+              0.0175558541949089
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004135837875687634,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036587989604190345,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.36364408475115717,
+              0.08261989804360236,
+              0.7671056800058318
+            ],
+            "target_position": [
+              0.3605952643455828,
+              0.0793717627680913,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004454850012454504,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17515716086681224,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671056800058318,
+            "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": 0.07530113549014712,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08576783293686062,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14393045400948987,
+            "release_required_pad_clearance": 0.05288391646843031,
+            "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": 0.8040452350236471,
+            "object_max_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": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2361d99ae10ce727ca23976de35a007e446bbacd15d9493bb5df859e9cade0c3",
+    "visual_seed": 4932616375303719889,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_28_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5f6bebe2fac25191653af27aca400074e5be533
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.26665548359219904,
+              0.2995053264451315,
+              1.0531809039248328
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+            "lift_margin": 0.19207433630542192,
+            "gripper_z": 1.0553300598951671,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.26131729103517976,
+              0.29462268498402816,
+              1.0553300598951671
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+              0.005338192557019283,
+              0.004882641461103343,
+              -0.002149155970334382
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+            "object_to_gripper_xy": 0.007234396133299687,
+            "object_to_gripper_z": -0.002149155970334382,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26665548359219904,
+              0.27471980837536364,
+              1.0531809039248328
+            ],
+            "finger_b": [
+              0.25497371239054345,
+              0.2995053264451315,
+              1.0531809039248328
+            ],
+            "finger_midpoint": [
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+                "elbow_joint",
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+                "finger",
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+                "fr3_duo_mobile",
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+                "fr3_joint2",
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+                "fr3_joint4",
+                "fr3_joint5",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
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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",
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+            },
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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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": [
+              0.26651431462796427,
+              0.298437231265161,
+              1.2426758238315005
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+              0.272104233524579,
+              0.3029746733406752,
+              1.240397738035333
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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": 0.007551506389726326,
+            "max_held_gripper_dist": 0.007564560069806732,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002278085796167506,
+            "max_held_gripper_z_dist": 0.002441565189177819,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08778854741370934,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.272104233524579,
+              0.2774858761167651,
+              1.240397738035333
+            ],
+            "held_grasp_finger_b": [
+              0.26197278666947954,
+              0.3029746733406752,
+              1.240397738035333
+            ],
+            "held_grasp_midpoint": [
+              0.2670385100970293,
+              0.29023027472872015,
+              1.240397738035333
+            ],
+            "held_grasp_object_position": [
+              0.272104233524579,
+              0.3029746733406752,
+              1.240397738035333
+            ],
+            "held_grasp_finger_gap": 0.027428543513998524,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02480806918624366,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06175321408121057,
+              -0.9978391043489737,
+              0.022442423725575367
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004278853198269526,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036690566070377864,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3621320941731704,
+              0.07645021331530774,
+              0.7671067515904968
+            ],
+            "target_position": [
+              0.3596390057452387,
+              0.07320518339393144,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004092152135504532,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17252319514485168,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671067515904968,
+            "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": 0.07514078858982001,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08597371530127344,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14185538052357183,
+            "release_required_pad_clearance": 0.05298685765063672,
+            "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": 0.9985519708206869,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 138,
+            "max_placed_release_frames": 138
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8a3184058b26b7b31d0b40bfa879936c02b8a70b6264478d365b41a049f79546",
+    "visual_seed": 1180098353912599579,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_29_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..33a2e6ca3e84575e24d403b19aea1dee7a67a13c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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": [
+    {
+      "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": [
+              0.2627502606238622,
+              0.29188583536248924,
+              1.051471863278544
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+                "fr3_joint5",
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+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
+                "gripper_center",
+                "joint1",
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+                "joint3",
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+                "panda_joint2",
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+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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": [
+              0.2624028929725869,
+              0.2905179128789462,
+              1.2411588936999718
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+              0.2951511369910242,
+              1.2383781052097151
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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": 0.007930345054640471,
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+            "held_gripper_z_dist": 0.002780788490256647,
+            "max_held_gripper_z_dist": 0.002935792020438255,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08739194140259873,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2682072725591901,
+              0.2695522802303858,
+              1.2383781052097151
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+              0.2579045701936623,
+              0.2951511369910242,
+              1.2383781052097151
+            ],
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+              0.2630559213764262,
+              0.282351708610705,
+              1.2383781052097151
+            ],
+            "held_grasp_object_position": [
+              0.2682072725591901,
+              0.2951511369910242,
+              1.2383781052097151
+            ],
+            "held_grasp_finger_gap": 0.027594331727446006,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02474633672928691,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07535921714332343,
+              -0.9970265685168535,
+              0.016093789580260864
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00417738475836465,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03657067812072477,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.36542694045600865,
+              0.07986478023910104,
+              0.7671068305174203
+            ],
+            "target_position": [
+              0.3612057719990914,
+              0.07619556089683961,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005592980754776365,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17497307503363294,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671068305174203,
+            "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": 0.07552546538359416,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08534222595728795,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14334105251674475,
+            "release_required_pad_clearance": 0.05267111297864398,
+            "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": 0.3896131346581749,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "590da1e98218f590594c04feeadfd09caf9a343cfb3e699a065ca8e7d11927ea",
+    "visual_seed": 8432941503032823662,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_2_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffcec6ccd2944e565c895ab9963b74d4a4fb01c3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_2_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+                "fr3_duo_mobile",
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+                "fr3_joint2",
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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"
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+              "ignored_prim_substrings": [
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
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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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+      "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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+          "safety": {
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_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",
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+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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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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+    {
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+      "skill": "place",
+      "target": "inspection_platform",
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+        "checker": {
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
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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"
+              ],
+              "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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+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_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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+                "wheel",
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+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "forbidden": [],
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+        "ordinary_object_physical_only": true
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+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
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+  "h5_episode_index": 2,
+  "reproducibility": {
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+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0f30093af6552762054fb9379c28bd27c7bc2179830d347c6ccbe315d66af781",
+    "visual_seed": 120635785321496398,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_30_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d238540c49d7ad70d9725530686d19169498bd7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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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+              0.29367511230629956,
+              1.0507130513427416
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+              0.28844840443041664,
+              1.0540156789344053
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+              0.005226707875882919,
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+            "object_to_gripper_z": -0.003302627591663665,
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+              0.26851976174711545,
+              1.0507130513427416
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+              0.29367511230629956,
+              1.0507130513427416
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+              0.28109743702670753,
+              1.0507130513427416
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+              0.012577675279592027,
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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": 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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "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_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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+              0.29244961070195397,
+              1.2425863147941965
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+              0.29729623980025016,
+              1.2391642296579106
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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": 0.008568319995713385,
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+            "held_gripper_z_dist": 0.003422085136285835,
+            "max_held_gripper_z_dist": 0.00358675853540813,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08800535808598631,
+            "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": [
+              0.270294756486511,
+              0.27149265076558227,
+              1.2391642296579106
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+              0.28439444528291624,
+              1.2391642296579106
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+            "held_grasp_object_position": [
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+              0.29729623980025016,
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+            "held_grasp_finger_gap": 0.027956358555911102,
+            "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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+              -0.998803080101365,
+              0.008590520839495519
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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": {
+              "passed": true,
+              "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": [],
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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": "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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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08664577022775576,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14492478408519463,
+            "release_required_pad_clearance": 0.05332288511387788,
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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": 1.6631435979926363,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4bfed53e27b07a8d07a042a0c53652ebf05ea91e02d0446469966b9ea3037fa8",
+    "visual_seed": 8943162171779829937,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_31_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7421da66e3d08dc99850c86fd06143e99edf25e8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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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+              1.018875145262042
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+              0.2843659780150193,
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+              0.005119002250426663,
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+              0.2642768489296789,
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+              1.0405342988035284
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+              0.2768809145975624,
+              1.0405075600209952
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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": 197,
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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",
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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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+      },
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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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+              0.28106566503288766,
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+            "max_held_gripper_z_dist": 0.03547338661793642,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_finger_gap": 0.033869255552166834,
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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": 0.0010373722654979378,
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+            "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": 0.020964092299986865,
+            "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",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
+              "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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+              "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": {
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08801539859367084,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13887476199228854,
+            "release_required_pad_clearance": 0.054007699296835424,
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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": 3.019467894844747,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 137,
+            "max_placed_release_frames": 137
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "12905105491dc3f42ad61812c844445fd28e6272d22cece56cccb53c777520a5",
+    "visual_seed": 3709755519024883879,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_32_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4df8d926acd434c0a8e970611d9bb3e89435c7a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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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+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+              1.0240627528021848
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+            "gripper_position": [
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+              0.28910963274754686,
+              1.054264311467087
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+              0.2692636493393129,
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+              0.2936279764419747,
+              1.0407755724750338
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+              0.2814458128906438,
+              1.0407486416454168
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 196,
+            "max_stable_success_frames": 196,
+            "required_stable_lift_frames": 5
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+          "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",
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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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+              ],
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+            },
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+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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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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+              0.2931695760166997,
+              1.2160554163570048
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+              0.2970543523680049,
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+            "held_shake_count": 5,
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+            "max_held_gripper_dist": 0.03558644058793844,
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+            "max_held_gripper_z_dist": 0.035191368332822215,
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+            "held_grasp_geometry_required": true,
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+            "held_grasp_finger_gap": 0.028187214537449417,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02715962968746902,
+            "held_grasp_world_z_skew": 0.0005857488971443559,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.9987254313064815,
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+            "held_grasp_object_to_finger_line_xy": 0.021087917798781497,
+            "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": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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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+              "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": {
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13629791365039312,
+            "release_required_pad_clearance": 0.054824924527749716,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.700538980390445,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 135,
+            "max_placed_release_frames": 135
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "47780b2f4af0b395cebe7ec0c4df0394e7056bee56280fca8c86c8b94f12bc0e",
+    "visual_seed": 3777123808373911139,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_33_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..366052859f688914805a2cb5375ebf3a816b0c2d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
+      "success": true,
+      "reason": "executed",
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+              1.0518959341428582
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+            "lift_margin": 0.1907892473141578,
+            "gripper_z": 1.0541882079026283,
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+            "gripper_position": [
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+              0.29668436777151724,
+              1.0541882079026283
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+              0.00492325928379117,
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+            "object_to_gripper_z": -0.002292273759770147,
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+              0.2768207891237398,
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+            "finger_b": [
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+              0.3016076270553084,
+              1.0518959341428582
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+            "finger_midpoint": [
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+              0.28921420808952414,
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+              0.012393418965784275,
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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": 0.04871306871869273,
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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_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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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+              0.3003550311954883,
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+              0.3049084579029342,
+              1.2416062211035697
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+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007642527024990332,
+            "max_held_gripper_dist": 0.007656310869541769,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002382646745884287,
+            "max_held_gripper_z_dist": 0.002546265919744606,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08784043125556923,
+            "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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+              0.27935398590455834,
+              1.2416062211035697
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+              0.2921312219037463,
+              1.2416062211035697
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+            "held_grasp_object_position": [
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+              0.3049084579029342,
+              1.2416062211035697
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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": 0.02477807355806099,
+            "held_grasp_world_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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+              -0.997340658749113,
+              0.022058440868498397
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004209300148241523,
+            "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": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
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+              "failed_keys": []
+            },
+            "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": "inspection_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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+            "object_z": 0.7671050304888481,
+            "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": 0.07532500685002282,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08591413689463183,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1440706791313294,
+            "release_required_pad_clearance": 0.052957068447315916,
+            "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": 0.9454195740534401,
+            "object_max_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": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "28fbce208d2cd5bf9a7f27de6077604d456fb0563388d36d04ea397d502512eb",
+    "visual_seed": 773569657963629952,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_34_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d91997bdc3d340c4bf8d01c99bd17022e857d547
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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": [
+    {
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+      "target": "beaker_a",
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+      "reason": "executed",
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+              1.0497980536777582
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+              0.29355056005041075,
+              1.0519861595222657
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+              0.27409661836806026,
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+            "finger_b": [
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+              0.298681183697446,
+              1.0497980536777582
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+            "finger_midpoint": [
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+              0.28638890103275316,
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+              1.0
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+            "stable_success_frames": 222,
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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": [],
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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": {
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+            "force_virtual_attach": false,
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+            "gripper_position": [
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+              0.29722816691803444,
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+            "max_held_gripper_z_dist": 0.0024663821006991604,
+            "held_gripper_z_max_dist": 0.15,
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+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_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_to_finger_line_xy": 0.004061248583352556,
+            "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"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "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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+            "failed_keys": []
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "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": [
+              0.35910331044303456,
+              0.0749123635347857,
+              0.7671063441505602
+            ],
+            "target_position": [
+              0.3545337887965022,
+              0.07089522954832217,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006084233192714433,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17407478963285816,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671063441505602,
+            "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": 0.07586662872752342,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08505164057630647,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14168800558759456,
+            "release_required_pad_clearance": 0.05252582028815324,
+            "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": 0.1186763589733413,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b03e58e46fe094d394431d7f1bac388b83ddbfc2f876589071e71a9f0674ce41",
+    "visual_seed": 7602623373034271878,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_35_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..75450cecd1c7c328ce43d7dfd0e7b1b280123d4f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.25931594380864376,
+              0.2992993721770077,
+              1.0513160566419715
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+            "current_z": 1.0513160566419715,
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+            "lift_margin": 0.19020942941791597,
+            "gripper_z": 1.0539053078907872,
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+            "gripper_position": [
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+              0.2942505802256486,
+              1.0539053078907872
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+              0.0050487919513590995,
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+            "object_to_gripper_xy": 0.007411190301062912,
+            "object_to_gripper_z": -0.002589251248815705,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2746301132631026,
+              1.0513160566419715
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+            "finger_b": [
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+              0.2992993721770077,
+              1.0513160566419715
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+            "finger_midpoint": [
+              0.25324255858864514,
+              0.2869647427200551,
+              1.0513160566419715
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+              0.012334629456952573,
+              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": 0.048095573811799186,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.41208979415320046,
+            "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": {
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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,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
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+          }
+        },
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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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+              0.2983348772888282,
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+            "held_position": [
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+              0.3029656031888589,
+              1.2401924612487387
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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": 0.00785334068493136,
+            "max_held_gripper_dist": 0.007867515504248735,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002685441625794649,
+            "max_held_gripper_z_dist": 0.002845085458228036,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08662387525421456,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2647483639869498,
+              0.2774178112965004,
+              1.2401924612487387
+            ],
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+              0.3029656031888589,
+              1.2401924612487387
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+              0.25954759627081747,
+              0.2901917072426796,
+              1.2401924612487387
+            ],
+            "held_grasp_object_position": [
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+              0.3029656031888589,
+              1.2401924612487387
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+            "held_grasp_finger_gap": 0.027584082546351196,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024739901338192392,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07112244883217554,
+              -0.9973340990526395,
+              0.016318460067503145
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004284307904193766,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03661051672944156,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3602624504293953,
+              0.07867165029036843,
+              0.7671071120500166
+            ],
+            "target_position": [
+              0.3562893446451209,
+              0.07507094927376869,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005361960218425455,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17663700597910875,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671071120500166,
+            "min_z": 0.5158860691194898,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532248450498227,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08590935296307205,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14542807420537046,
+            "release_required_pad_clearance": 0.052954676481536025,
+            "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": 0.9404383954351453,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fa998f03d25bc43d1621c795be3d6e5e9f7207f4ab564a1f7e121f184531bad5",
+    "visual_seed": 9162737381425645242,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_36_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fa779eca13a19f752289adeae64145bc946c205
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.3014629197842734,
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+              1.0550025472818436
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+              0.2891401235492344,
+              1.0528154359266013
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+              0.0,
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+            "stable_success_frames": 225,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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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": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object": null,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 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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+              0.30053252633673616,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_dist": 0.00779945886423226,
+            "max_held_gripper_dist": 0.00781343069189874,
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+            "max_held_gripper_z_dist": 0.002463563007570002,
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+            "held_object_xy_range": 0.08787216530941694,
+            "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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+              0.2796471119196848,
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+              0.29243748761665145,
+              1.2411144222971326
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+            "held_grasp_object_position": [
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+              1.2411144222971326
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+            "held_grasp_finger_gap": 0.02764196675851303,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02468198700638705,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07733661312882217,
+              -0.9965307860010792,
+              0.030748021429588657
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004250934505440169,
+            "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": {
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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": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3643474650256576,
+              0.07381993461020227,
+              0.767106524553633
+            ],
+            "target_position": [
+              0.36127105250934605,
+              0.07061087271363255,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004445491224435628,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17377061755179046,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.767106524553633,
+            "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": 0.07578134159874851,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08553728878695198,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14155528940521142,
+            "release_required_pad_clearance": 0.05276864439347599,
+            "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": 0.569120921998359,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d038002fb2843eb6759b44d95a5cfc275ad14ddbcdd40b0f83b79ab96604fe10",
+    "visual_seed": 2926784952416348345,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_38_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ff2d24dcb80cd48c1333a3b04bc0d2d230ff385
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.2955141674597205,
+              1.05260864228033
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+            "gripper_z": 1.0551007013112066,
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+              0.290491947468697,
+              1.0551007013112066
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+              0.00502221999102348,
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+              0.2711466502404926,
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+              1.05260864228033
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+              0.2833304088501065,
+              1.05260864228033
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
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+            "stable_success_frames": 225,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "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": [],
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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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+      },
+      "physical_semantics": {
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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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+              0.29455307391413976,
+              1.2435600646239697
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+              1.2409589433249084
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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": 0.007651685694947721,
+            "max_held_gripper_dist": 0.007666260870648697,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0026011212990613153,
+            "max_held_gripper_z_dist": 0.002754380141822832,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08659063247810028,
+            "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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+              0.27364612845794334,
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+              0.2863736324929646,
+              1.2409589433249084
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+            "held_grasp_object_position": [
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+              1.2409589433249084
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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": 0.024667013334771424,
+            "held_grasp_world_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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+              -0.9969642448528137,
+              0.03502541799221526
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004237068657363454,
+            "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",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.35672662294978563,
+              0.07590555287620178,
+              0.7671029620413022
+            ],
+            "target_position": [
+              0.3547437918056422,
+              0.07323836303861968,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003323480250563618,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17175877517775595,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671029620413022,
+            "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": 0.07543339529633941,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08565388773018122,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14026758100352166,
+            "release_required_pad_clearance": 0.05282694386509061,
+            "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": 0.6805923007271549,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 138,
+            "max_placed_release_frames": 138
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a26f88d93f6e3ba06552913e2e9e84741f2ddf15502f9b2a0ec8960df47e069a",
+    "visual_seed": 8429339314269389165,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_39_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbd74abdb176ce43c1907d549b845268427e8040
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.2996115472087321,
+              1.0512109117755517
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+              0.29465993740931495,
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+              0.26284664494267596,
+              0.27480616873359043,
+              1.0512109117755517
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+              0.2996115472087321,
+              1.0512109117755517
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+              0.28720885797116125,
+              1.0512109117755517
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+              0.012402689237570874,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 224,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "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/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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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+              0.29828984261705105,
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+              0.30286575325731063,
+              1.2407617765459458
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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": 0.007700974783936416,
+            "max_held_gripper_dist": 0.00771486877958314,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002401648363344444,
+            "max_held_gripper_z_dist": 0.002564035230234518,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0878690139594766,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26830930738407477,
+              0.27729352831036164,
+              1.2407617765459458
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+              0.30286575325731063,
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+              0.29007964078383613,
+              1.2407617765459458
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+            "held_grasp_object_position": [
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+              0.30286575325731063,
+              1.2407617765459458
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+            "held_grasp_finger_gap": 0.027547813128242327,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024841377861889724,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0653842378473285,
+              -0.9976130790878233,
+              0.022204636318495785
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004284785494053513,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03662975293258769,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.36371468228157966,
+              0.07723564310388997,
+              0.7671061779285054
+            ],
+            "target_position": [
+              0.3606584249874087,
+              0.07422775495307263,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0042881347665390205,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17613922844873361,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671061779285054,
+            "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": 0.075768053405262,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08555707318180782,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14371539742915182,
+            "release_required_pad_clearance": 0.05277853659090391,
+            "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": 0.6039283498583577,
+            "object_max_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": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b109caa46e6b5d416295ccb9dc9a832407dd3a2e75411e3579c43eb4d35bb7e1",
+    "visual_seed": 1178616890297145473,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_40_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7b79b9b74f6cdac7af7eac65b663bd12d970cf2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
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+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.26356210625571996,
+              0.29913134642101985,
+              1.052233830933555
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+            "gripper_z": 1.0548363088644066,
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+            "gripper_position": [
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+              0.2943363695140009,
+              1.0548363088644066
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+              0.00510525290207875,
+              0.004794976907018966,
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+              0.26356210625571996,
+              0.274556902389094,
+              1.052233830933555
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+            "finger_b": [
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+              0.29913134642101985,
+              1.052233830933555
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+            "finger_midpoint": [
+              0.2577556511015007,
+              0.2868441244050569,
+              1.052233830933555
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+              0.005806455154219237,
+              0.01228722201596294,
+              0.0
+            ],
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05156191956073329,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_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,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_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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+              0.2984395273508687,
+              1.244433491504519
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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": 0.007476766958154981,
+            "max_held_gripper_dist": 0.007494092232837176,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002694098519132604,
+            "max_held_gripper_z_dist": 0.0028504196547955996,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08653696901154972,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2690147037486581,
+              0.2775188701995583,
+              1.2417393929853864
+            ],
+            "held_grasp_finger_b": [
+              0.2589879313220903,
+              0.30288374367764587,
+              1.2417393929853864
+            ],
+            "held_grasp_midpoint": [
+              0.2640013175353742,
+              0.2902013069386021,
+              1.2417393929853864
+            ],
+            "held_grasp_object_position": [
+              0.2690147037486581,
+              0.30288374367764587,
+              1.2417393929853864
+            ],
+            "held_grasp_finger_gap": 0.02727476804399207,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024686717165710647,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.058882342855676645,
+              -0.9965402366112437,
+              0.05865514908883096
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004323902834070983,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036786491635482726,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.354093101399237,
+              0.08003361259089839,
+              0.7671037711105079
+            ],
+            "target_position": [
+              0.35435736961777764,
+              0.07855344106461164,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0015035775465737373,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17043911904054337,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671037711105079,
+            "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": 0.07538549351801317,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08745661026667738,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1387629206203253,
+            "release_required_pad_clearance": 0.05372830513333869,
+            "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": 2.456237576410063,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 137,
+            "max_placed_release_frames": 137
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4643eb61e7843bbc822e2ee06959c96aad7ab62260bd489683b1ea4f416c6ec2",
+    "visual_seed": 6273455162313685197,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_41_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d3868760fa881e4ac6203b35db1769041994349
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2646083426416209,
+              0.294948510017487,
+              1.0526524394732086
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+            "gripper_z": 1.0549172771164779,
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+            "gripper_position": [
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+              0.28989998871508144,
+              1.0549172771164779
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+              0.005439522383666795,
+              0.005048521302405573,
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+            "object_to_gripper_z": -0.002264837643269235,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2646083426416209,
+              0.27027208840785777,
+              1.0526524394732086
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+            "finger_b": [
+              0.252452371673911,
+              0.294948510017487,
+              1.0526524394732086
+            ],
+            "finger_midpoint": [
+              0.25853035715776596,
+              0.2826102992126724,
+              1.0526524394732086
+            ],
+            "object_minus_finger_midpoint": [
+              0.006077985483854964,
+              0.01233821080481462,
+              0.0
+            ],
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_projection_between_fingers": 0.8047192858992752,
+            "object_to_finger_line_xy": 0.010904653219046679,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047920497819137306,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.33148902332375074,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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": [
+              0.26442458660150414,
+              0.29364444602466566,
+              1.243754026328673
+            ],
+            "held_position": [
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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": 0.007763148280547744,
+            "max_held_gripper_dist": 0.007776164667649598,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0023836422085845577,
+            "max_held_gripper_z_dist": 0.00254261813618073,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08794168865030222,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27019628457554845,
+              0.2726688327509814,
+              1.2413703841200885
+            ],
+            "held_grasp_finger_b": [
+              0.25989698035285136,
+              0.29825662810516057,
+              1.2413703841200885
+            ],
+            "held_grasp_midpoint": [
+              0.2650466324641999,
+              0.285462730428071,
+              1.2413703841200885
+            ],
+            "held_grasp_object_position": [
+              0.27019628457554845,
+              0.29825662810516057,
+              1.2413703841200885
+            ],
+            "held_grasp_finger_gap": 0.027582801499467353,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024767078149889786,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07278623698479396,
+              -0.9972225193544844,
+              0.015792738770985526
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00420976750606619,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03658706339721845,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3603455645372743,
+              0.07923920497133438,
+              0.7671050051409233
+            ],
+            "target_position": [
+              0.35641329552098105,
+              0.07557225790845093,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005376731384260267,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1757305573630074,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671050051409233,
+            "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": 0.07553215586693454,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08513906529041913,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1439342015044871,
+            "release_required_pad_clearance": 0.05256953264520957,
+            "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": 0.20172728144827834,
+            "object_max_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": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "77c3bd359d34f64e38ecc9430ce91df970bb456fd470d2025baf304d853e233e",
+    "visual_seed": 5999859438458853859,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_42_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2ab95c6d89e0e1fb4009a97404046bcd3c39bc5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_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": [
+              0.25964725793585797,
+              0.3002056547589011,
+              1.051118706616752
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+            "lift_margin": 0.19001219860198593,
+            "gripper_z": 1.0536464629129634,
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+            "gripper_position": [
+              0.2541402866897705,
+              0.2950100645893746,
+              1.0536464629129634
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+              0.005506971246087455,
+              0.005195590169526476,
+              -0.002527756296211381
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+            "object_to_gripper_z": -0.002527756296211381,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.25964725793585797,
+              0.2756132255864771,
+              1.051118706616752
+            ],
+            "finger_b": [
+              0.24711461567127727,
+              0.3002056547589011,
+              1.051118706616752
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+            "finger_midpoint": [
+              0.2533809368035676,
+              0.2879094401726891,
+              1.051118706616752
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+            "object_minus_finger_midpoint": [
+              0.0062663211322903645,
+              0.012296214586211995,
+              0.0
+            ],
+            "finger_gap": 0.027601715430977204,
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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": 1.101538352442819,
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+            "fingertip_min_top_clearance": 0.015125893747820118,
+            "object_projection_between_fingers": 0.7938358545036288,
+            "object_to_finger_line_xy": 0.011166266749099523,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048030680935915435,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4802896011294519,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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": [
+              0.25942871280478097,
+              0.29877095308329127,
+              1.2408343516491267
+            ],
+            "held_position": [
+              0.2653288393959915,
+              0.3034400506433547,
+              1.238154442539726
+            ],
+            "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": 0.007987107026473926,
+            "max_held_gripper_dist": 0.008001041364828139,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0026799091094007466,
+            "max_held_gripper_z_dist": 0.0028430149180003195,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08805751608588236,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2653288393959915,
+              0.2777643513674271,
+              1.238154442539726
+            ],
+            "held_grasp_finger_b": [
+              0.2549988149578539,
+              0.3034400506433547,
+              1.238154442539726
+            ],
+            "held_grasp_midpoint": [
+              0.2601638271769227,
+              0.2906022010053909,
+              1.238154442539726
+            ],
+            "held_grasp_object_position": [
+              0.2653288393959915,
+              0.3034400506433547,
+              1.238154442539726
+            ],
+            "held_grasp_finger_gap": 0.027675818654565382,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024700472779533193,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08493410291037717,
+              -0.9961888034032758,
+              0.019851099132267125
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004064249968065833,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036492642321632976,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3678662939096483,
+              0.07423665121591987,
+              0.7671058078381812
+            ],
+            "target_position": [
+              0.3639792344398906,
+              0.07082567088980729,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00517146189259479,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17409361794828235,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671058078381812,
+            "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": 0.07562898991167741,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08616642364842629,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1422172338914843,
+            "release_required_pad_clearance": 0.05308321182421315,
+            "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": 1.1908926517066878,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c7e1e06397130a536dc96e408193139eba29579be79882736ad6f3afccf768af",
+    "visual_seed": 3436395526175932514,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_43_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9b598118f8ad61413a4119f45b9180750df11b2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_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": [
+              0.257768052307355,
+              0.291474639041612,
+              1.0517326959124076
+            ],
+            "current_z": 1.0517326959124076,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.19062606868835197,
+            "gripper_z": 1.0544863578486137,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2524271209701206,
+              0.2863456781046101,
+              1.0544863578486137
+            ],
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+              0.0053409313372344,
+              0.005128960937001936,
+              -0.0027536619362060755
+            ],
+            "object_to_gripper_xy": 0.0074048489412238665,
+            "object_to_gripper_z": -0.0027536619362060755,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.257768052307355,
+              0.26700876656893485,
+              1.0517326959124076
+            ],
+            "finger_b": [
+              0.24532190149340585,
+              0.291474639041612,
+              1.0517326959124076
+            ],
+            "finger_midpoint": [
+              0.2515449769003804,
+              0.27924170280527344,
+              1.0517326959124076
+            ],
+            "object_minus_finger_midpoint": [
+              0.0062230754069745875,
+              0.012232936236338587,
+              0.0
+            ],
+            "finger_gap": 0.027449691909616578,
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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": 1.0517326959124076,
+            "object_top_z": 1.102901280823144,
+            "finger_top_clearance": 0.05116858491073639,
+            "fingertip_min_top_clearance": 0.015350575473220884,
+            "object_projection_between_fingers": 0.7944132270403271,
+            "object_to_finger_line_xy": 0.011093237024023149,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04875264139887894,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9208833809127438,
+            "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_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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+            },
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+            "disturbances": [],
+            "last_frame": {
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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": [
+              0.257605342030842,
+              0.2902652108239044,
+              1.244043976654634
+            ],
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+              0.2948865453404011,
+              1.2411845309147753
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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": 0.007903855637962628,
+            "max_held_gripper_dist": 0.007918934843243096,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002859445739858746,
+            "max_held_gripper_z_dist": 0.0030103148311211303,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0879219946278334,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2633444858078521,
+              0.2693057357615876,
+              1.2411845309147753
+            ],
+            "held_grasp_finger_b": [
+              0.25302850712203534,
+              0.2948865453404011,
+              1.2411845309147753
+            ],
+            "held_grasp_midpoint": [
+              0.25818649646494374,
+              0.28209614055099436,
+              1.2411845309147753
+            ],
+            "held_grasp_object_position": [
+              0.2633444858078521,
+              0.2948865453404011,
+              1.2411845309147753
+            ],
+            "held_grasp_finger_gap": 0.02758255308983816,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024547942985188226,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0893671601110881,
+              -0.995662495576403,
+              0.025878670681639515
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004008494454293031,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03652436885858299,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.35848731640809095,
+              0.07460281537841511,
+              0.7671053409586213
+            ],
+            "target_position": [
+              0.35497216791755737,
+              0.0712396716572804,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004864874571816658,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1750960461599507,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671053409586213,
+            "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": 0.07530175663666924,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08717692657581931,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1440007816389439,
+            "release_required_pad_clearance": 0.05358846328790966,
+            "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": 2.176077759457568,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "66685987f2b7036f731f3ebc6d3c87eff7c46c10289b6698c257be4b964bc078",
+    "visual_seed": 6456027703286094959,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_44_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..444a844e60a9033346af5676306a7f770cad975c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.29400498956414645,
+              1.0494642894396247
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+            "current_z": 1.0494642894396247,
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+            "gripper_z": 1.0521415845498183,
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+            "gripper_position": [
+              0.25484762512404563,
+              0.288890310663627,
+              1.0521415845498183
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+              0.005408277804522632,
+              0.00511467890051942,
+              -0.002677295110193656
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+            "object_to_gripper_xy": 0.007443749664403733,
+            "object_to_gripper_z": -0.002677295110193656,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.26025590292856826,
+              0.2694361954559786,
+              1.0494642894396247
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+            "finger_b": [
+              0.2478999593003026,
+              0.29400498956414645,
+              1.0494642894396247
+            ],
+            "finger_midpoint": [
+              0.25407793111443544,
+              0.28172059251006254,
+              1.0494642894396247
+            ],
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+              0.006177971814132821,
+              0.012284397054083906,
+              0.0
+            ],
+            "finger_gap": 0.02750081793100749,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.7981351911694893,
+            "object_to_finger_line_xy": 0.011038603861767608,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048245330865483244,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5618696868279746,
+            "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_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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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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": [
+              0.2599738457433407,
+              0.29249460776563857,
+              1.2391804340055108
+            ],
+            "held_position": [
+              0.2657499544763833,
+              0.2971192605506606,
+              1.2363604241653308
+            ],
+            "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": 0.007918541594047179,
+            "max_held_gripper_dist": 0.007933773985842989,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002820009840180049,
+            "max_held_gripper_z_dist": 0.0029741716707487598,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08738761463501715,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2657499544763833,
+              0.27151773840220367,
+              1.2363604241653308
+            ],
+            "held_grasp_finger_b": [
+              0.2554946666194151,
+              0.2971192605506606,
+              1.2363604241653308
+            ],
+            "held_grasp_midpoint": [
+              0.2606223105478992,
+              0.2843184994764322,
+              1.2363604241653308
+            ],
+            "held_grasp_object_position": [
+              0.2657499544763833,
+              0.2971192605506606,
+              1.2363604241653308
+            ],
+            "held_grasp_finger_gap": 0.027579138227058705,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024644741355303708,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08394745736845377,
+              -0.9962550877864513,
+              0.020703247595047932
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004043939882666275,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03653697405226915,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.36029186654188095,
+              0.07774484013359592,
+              0.7671076172965468
+            ],
+            "target_position": [
+              0.3565029882345441,
+              0.07411490515292972,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005247096987065482,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17305152328543658,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671076172965468,
+            "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": 0.07580807227051888,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08537155605087708,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14086420706958638,
+            "release_required_pad_clearance": 0.05268577802543854,
+            "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": 0.41102322395534296,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a0aa5a2e27533e8c4f41de16aa45b434a68e1f00c9a71707a6342ce6b215864e",
+    "visual_seed": 8895300555169540081,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_45_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cee46a1b85cd8bb0a9a577c33a2faa7d3de97dc5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_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": [
+              0.2673160654848839,
+              0.29827475070664733,
+              1.0504698874992888
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+            "lift_margin": 0.1893633198798781,
+            "gripper_z": 1.0527997307564692,
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+            "gripper_position": [
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+              0.2932160349262214,
+              1.0527997307564692
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+              0.005517028389390444,
+              0.0050587157804259375,
+              -0.0023298432571803307
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+            "object_to_gripper_xy": 0.007485199235589559,
+            "object_to_gripper_z": -0.0023298432571803307,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2673160654848839,
+              0.2734889449739143,
+              1.0504698874992888
+            ],
+            "finger_b": [
+              0.25522211689285146,
+              0.29827475070664733,
+              1.0504698874992888
+            ],
+            "finger_midpoint": [
+              0.26126909118886765,
+              0.2858818478402808,
+              1.0504698874992888
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+            "object_minus_finger_midpoint": [
+              0.00604697429601625,
+              0.012392902866366518,
+              0.0
+            ],
+            "finger_gap": 0.027578973120250604,
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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": 1.0504698874992888,
+            "object_top_z": 1.1007048260983971,
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+            "fingertip_min_top_clearance": 0.015070481579732497,
+            "object_projection_between_fingers": 0.8076996594626156,
+            "object_to_finger_line_xy": 0.01086908707720054,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04802017853645621,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.36573192845931135,
+            "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": {
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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",
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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",
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+                "defaultgroundplane",
+                "desk",
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+                "link0",
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+                "workbench"
+              ],
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+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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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": [
+              0.2669657424724208,
+              0.2971471174705881,
+              1.2419264021919718
+            ],
+            "held_position": [
+              0.2727843473377294,
+              0.3018063625017014,
+              1.2394919645880726
+            ],
+            "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": 0.007841633330233275,
+            "max_held_gripper_dist": 0.007855536363164928,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0024344376038991644,
+            "max_held_gripper_z_dist": 0.002599644018980163,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08674711660912862,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2727843473377294,
+              0.27621438956964145,
+              1.2394919645880726
+            ],
+            "held_grasp_finger_b": [
+              0.26234603648410404,
+              0.3018063625017014,
+              1.2394919645880726
+            ],
+            "held_grasp_midpoint": [
+              0.2675651919109167,
+              0.2890103760356714,
+              1.2394919645880726
+            ],
+            "held_grasp_object_position": [
+              0.2727843473377294,
+              0.3018063625017014,
+              1.2394919645880726
+            ],
+            "held_grasp_finger_gap": 0.027638875013867723,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024800688204248,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06960128927596684,
+              -0.9974693301408124,
+              0.01451192473665075
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004319987807197031,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03659338607469542,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3670537579633814,
+              0.07391059541451145,
+              0.7671050980875791
+            ],
+            "target_position": [
+              0.3635744459265177,
+              0.07046975249290599,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004893364104685748,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1738360993647648,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671050980875791,
+            "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": 0.07551372243072263,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08514428592850658,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14214997434089707,
+            "release_required_pad_clearance": 0.05257214296425329,
+            "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": 0.20166266080999992,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "795851912b3b5a3369f5da3cce92983f47c712871fd8a634eb4be9946c2bb9f2",
+    "visual_seed": 7639310020518509708,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_46_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3edcab65275fdac31aa81ed3c2eaa8b44abb49b0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2603709789707892,
+              0.30234213388156517,
+              1.052116566773305
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+            "current_z": 1.052116566773305,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.19101005875853894,
+            "gripper_z": 1.054688081791528,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.2549120559091706,
+              0.29719010346477936,
+              1.054688081791528
+            ],
+            "object_minus_gripper": [
+              0.0054589230616186035,
+              0.005152030416785802,
+              -0.0025715150182230584
+            ],
+            "object_to_gripper_xy": 0.007506214652416856,
+            "object_to_gripper_z": -0.0025715150182230584,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2603709789707892,
+              0.27776759337372103,
+              1.052116566773305
+            ],
+            "finger_b": [
+              0.24791563145956577,
+              0.30234213388156517,
+              1.052116566773305
+            ],
+            "finger_midpoint": [
+              0.2541433052151775,
+              0.2900548636276431,
+              1.052116566773305
+            ],
+            "object_minus_finger_midpoint": [
+              0.006227673755611729,
+              0.012287270253922067,
+              0.0
+            ],
+            "finger_gap": 0.02755074813497833,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01377537406748917,
+            "object_to_finger_midpoint_z": 0.0,
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
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+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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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": [
+              0.26031885272673044,
+              0.3006163076208216,
+              1.2417639555428126
+            ],
+            "held_position": [
+              0.26617831548709103,
+              0.30523910767532536,
+              1.2390456320286174
+            ],
+            "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": 0.007943101844481111,
+            "max_held_gripper_dist": 0.007958214622271573,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002718323514195209,
+            "max_held_gripper_z_dist": 0.002882864236439797,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08730556364439196,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26617831548709103,
+              0.27955049570179324,
+              1.2390456320286174
+            ],
+            "held_grasp_finger_b": [
+              0.25597285165506445,
+              0.30523910767532536,
+              1.2390456320286174
+            ],
+            "held_grasp_midpoint": [
+              0.26107558357107774,
+              0.2923948016885593,
+              1.2390456320286174
+            ],
+            "held_grasp_object_position": [
+              0.26617831548709103,
+              0.30523910767532536,
+              1.2390456320286174
+            ],
+            "held_grasp_finger_gap": 0.027641567921402366,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02469692683911083,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08684176671128988,
+              -0.9958960559936617,
+              0.025486333803265038
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003981978379631211,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03648552614125829,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3633464546694286,
+              0.0781976220967634,
+              0.7671054678306456
+            ],
+            "target_position": [
+              0.35934994283388555,
+              0.07448882564652902,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005452272733540288,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1738767023788488,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671054678306456,
+            "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": 0.07586478279359168,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08519087987869199,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14143965706303457,
+            "release_required_pad_clearance": 0.052595439939346,
+            "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": 0.2533356668683335,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b3c984fdae4e22e71d27a22bc50796b04975e8ab40845e3f88e373f889ab2e04",
+    "visual_seed": 194411350546585433,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_48_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b15b4f8b27b59e3aac39d844d3d8131c8b50cf2b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_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": [
+              0.26465385963201893,
+              0.2929852372193762,
+              1.0494073609743204
+            ],
+            "current_z": 1.0494073609743204,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.18830061454097535,
+            "gripper_z": 1.052593652994257,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25874389135374365,
+              0.28776318210862617,
+              1.052593652994257
+            ],
+            "object_minus_gripper": [
+              0.005909968278275279,
+              0.0052220551107500235,
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+                "finger",
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+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
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+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
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+                "fr3_rightfinger",
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+                "joint3",
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+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
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+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "desk",
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+                "table",
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+            },
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
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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": [
+              0.26373881700201024,
+              0.29175689803755134,
+              1.239215350510282
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+            "held_position": [
+              0.26993155688823545,
+              0.2966188299473317,
+              1.235887164118168
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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": 0.008547820415429832,
+            "max_held_gripper_dist": 0.00856384951581145,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003328186392114185,
+            "max_held_gripper_z_dist": 0.0034954906483626313,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08667125167753864,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26993155688823545,
+              0.2708771480245346,
+              1.235887164118168
+            ],
+            "held_grasp_finger_b": [
+              0.2591136935746554,
+              0.2966188299473317,
+              1.235887164118168
+            ],
+            "held_grasp_midpoint": [
+              0.26452262523144543,
+              0.2837479889859331,
+              1.235887164118168
+            ],
+            "held_grasp_object_position": [
+              0.26993155688823545,
+              0.2966188299473317,
+              1.235887164118168
+            ],
+            "held_grasp_finger_gap": 0.0279223988024983,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02525215167472006,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04293783351794851,
+              -0.9990274670406668,
+              0.010023100872203816
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004853043148256803,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03662967861875661,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.36087373663395694,
+              0.07688349251697328,
+              0.76710567126021
+            ],
+            "target_position": [
+              0.35606722170818633,
+              0.07283075545982298,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006287071129393633,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17476793585252637,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.76710567126021,
+            "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": 0.0753539749792662,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08591730478232838,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.143638435256589,
+            "release_required_pad_clearance": 0.05295865239116419,
+            "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": 0.952846331839822,
+            "object_max_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": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4a5fec973969cd2a1335a5649b35f93f5eb11209ad13b622134eaeb7a27c6393",
+    "visual_seed": 5231657987529940562,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_49_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cab602d3773c980d488ed4df5bd44b0fcdd40fa4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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,
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+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_50_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d809af28684c95bdc322880d23ce79c4f6059e9d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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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+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "metrics": {
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+              0.29919938648547934,
+              1.050998382127579
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+              0.2940856753199459,
+              1.0536438854350998
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+              0.005113711165533441,
+              -0.00264550330752078
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+            "object_to_gripper_xy": 0.007365853740712588,
+            "object_to_gripper_z": -0.00264550330752078,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.264276730070792,
+              0.27470899392122283,
+              1.050998382127579
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+            "finger_b": [
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+              0.29919938648547934,
+              1.050998382127579
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+              0.2869541902033511,
+              1.050998382127579
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+              0.012245196282128223,
+              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": 0.05135611049839173,
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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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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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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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+              0.29668445065325005,
+              1.2416593726326726
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+              0.30118391562196406,
+              1.2388768248563622
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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": 0.00783201595859678,
+            "max_held_gripper_dist": 0.007847508087189994,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0027825477763103734,
+            "max_held_gripper_z_dist": 0.0029410453817226845,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08768773220265991,
+            "held_object_min_xy_range": 0.04,
+            "held_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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+              0.2753642626284721,
+              1.2388768248563622
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+              0.30118391562196406,
+              1.2388768248563622
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+              0.28827408912521807,
+              1.2388768248563622
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+            "held_grasp_object_position": [
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+              0.30118391562196406,
+              1.2388768248563622
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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": 0.02445008306208922,
+            "held_grasp_world_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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+              -0.9909710215413089,
+              0.06641147558893867
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+            "held_grasp_object_to_finger_line_xy": 0.0034546816766487434,
+            "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": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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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_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1392163936577305,
+            "release_required_pad_clearance": 0.053791187641999735,
+            "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": 2.5793439301918024,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 137,
+            "max_placed_release_frames": 137
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+              "forbidden": [],
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+            "failed_keys": []
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+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_object": null,
+        "attach_object_path": null,
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+        "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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c858fb3cee8bed9e303c4870e3a0acf01a3582f5c14a611dc4f1acdb8ff25551",
+    "visual_seed": 2732860127650129643,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_51_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ce9b0b962e3ea2ecffe40b873c58058ef0fe2b5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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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+              1.051784264776038
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+              0.2945306871143323,
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+              1.051784264776038
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+              0.28724372530225906,
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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_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"
+              ],
+              "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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+                {
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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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+              0.29840859846732254,
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+              0.30293537016595984,
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+            "held_shake_count": 5,
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+            "max_held_gripper_z_dist": 0.0022824916184807087,
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+              0.29017355214493723,
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+              0.30293537016595984,
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_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"
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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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+    {
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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": 0.14203568125978774,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 138,
+            "max_placed_release_frames": 138
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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"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9d23172b2fd75dfabec65cfc381e9cf0cd0ca9f493fa465f53aff6b07357ba04",
+    "visual_seed": 3691102578919321493,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_52_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2289293205465f6a8fa4bb9fa454e7e6f7160aac
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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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+              1.052261044075065
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+              0.2744526729391445,
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+              0.286787418015918,
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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": {
+            "policy": {
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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"
+                },
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+          }
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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",
+      "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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+              0.29789695159276997,
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+              0.3024580990930775,
+              1.2391653786853434
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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": 0.0022232341107506493,
+            "max_held_gripper_z_dist": 0.0023856093789291766,
+            "held_gripper_z_max_dist": 0.15,
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+            "held_object_min_xy_range": 0.04,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.28968541305814066,
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+              0.3024580990930775,
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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_to_finger_line_xy": 0.00410704202961038,
+            "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": [],
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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",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14447152485585738,
+            "release_required_pad_clearance": 0.05294843362168537,
+            "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": 0.9278694043454071,
+            "object_max_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": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "304823acd3a6633fe9fddb6b10b17318b9915ca4cc19e307c5dc74d2bf1f391e",
+    "visual_seed": 6488778568137835244,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_53_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..77191091e953f5ff59dc413f6713a4831f5a7863
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
+      "success": true,
+      "reason": "executed",
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+              1.0513107896619562
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+              0.2875465838282148,
+              1.054101266396084
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+              0.00501712132718124,
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+              0.26778546282927773,
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+              1.0513107896619562
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+              0.28017458399233686,
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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": {
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+              "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": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+              ],
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+            },
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+          }
+        },
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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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+              0.29155790012293015,
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+              0.2961924818589395,
+              1.2387737008418709
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00793889851292668,
+            "max_held_gripper_dist": 0.00795443280467651,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0029226925672345416,
+            "max_held_gripper_z_dist": 0.003076372831435359,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08663421390360018,
+            "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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+              1.2387737008418709
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+              0.2834285239714718,
+              1.2387737008418709
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+              0.2961924818589395,
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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": 0.024783319122599103,
+            "held_grasp_world_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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+              -0.9975532427858391,
+              0.023664096658395077
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004344562189796197,
+            "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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+              "failed_keys": []
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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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+          "metrics": {
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+            "release_min_pad_clearance": 0.14045652017279311,
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+            "release_gap_ok": false,
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+            "object_tilt_deg": 0.5692240047977841,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 137,
+            "max_placed_release_frames": 137
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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",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "67c65d84704f8855a87d4fd6c7b242fc44e9b2859186e543a0a388ab5a15008d",
+    "visual_seed": 4847475481797459897,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_55_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fc0d22ecac0e215c873c4e06e4cd2dfb242818a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
+      "success": true,
+      "reason": "executed",
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+          "metrics": {
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+              0.29102300949546445,
+              1.0514239318060477
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+            "lift_margin": 0.19031706616341304,
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+            "gripper_position": [
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+              0.286026712702387,
+              1.054091910546469
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+              0.004996296793077448,
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+              0.26628141592926624,
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+              0.29102300949546445,
+              1.0514239318060477
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+              0.27865221271236534,
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+              0.012370796783099103,
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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",
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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"
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
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+          }
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+      },
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+        "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": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              1.2413995798873294
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+              0.29470379066299385,
+              1.2385921532001913
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
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+            "max_held_gripper_dist": 0.007865666312721162,
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+            "max_held_gripper_z_dist": 0.002959575805400405,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08815313892955395,
+            "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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+              0.26918388183951064,
+              1.2385921532001913
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+              0.28194383625125224,
+              1.2385921532001913
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+              0.29470379066299385,
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+            "held_grasp_finger_gap": 0.027512622565437173,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02479432105172054,
+            "held_grasp_world_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": 0.004311536639072772,
+            "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"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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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+    },
+    {
+      "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,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546584718513234,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0853726982209838,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14253586821357744,
+            "release_required_pad_clearance": 0.0526863491104919,
+            "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": 0.3866592875678375,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "136b9af3950e380c521185a97c8800d6ddf562aa0963cfc501578d5d0b06e5cd",
+    "visual_seed": 8371578844629447588,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_56_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..27ed8db3b0b72d8be8b1d524df4bce4302243ee9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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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+      "target": "beaker_a",
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+      "reason": "executed",
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+              1.0517553583482493
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+              0.27569397496175796,
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+              0.28805749158180327,
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+            "stable_success_frames": 225,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "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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+    {
+      "step_index": 1,
+      "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": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
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+            "held_shake_count": 5,
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+            "max_held_gripper_z_dist": 0.0025128678279575656,
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+            "held_grasp_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02480184156777882,
+            "held_grasp_world_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": 0.0042912667196642615,
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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",
+                "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/beaker_2/mesh"
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+                {
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+                  "b": "/World/beaker_2/mesh"
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+            "failed_keys": []
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+        },
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+        "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": [
+              0.35943391580134776,
+              0.08051796463174804,
+              0.7671044693888541
+            ],
+            "target_position": [
+              0.3574980877117855,
+              0.0779719157654378,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003198405105982979,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17199936424150908,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671044693888541,
+            "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": 0.07586233916212348,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08641059374225733,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1394479690290153,
+            "release_required_pad_clearance": 0.05320529687112867,
+            "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": 1.429820352886552,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 137,
+            "max_placed_release_frames": 137
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4b683da284c54d34e371b23b3ae29376a0dd15c944ab1d218bd88b6427a6aa54",
+    "visual_seed": 3726500333044026160,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_58_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e0e2210d413209adc8ca3c4e65083b373af65e5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2674531475256321,
+              0.29746226399898223,
+              1.0524212925106933
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+            "current_z": 1.0524212925106933,
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+            "gripper_z": 1.0544803908389657,
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+            "gripper_position": [
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+              0.2925147021316162,
+              1.0544803908389657
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+              0.004947561867366057,
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+            "object_to_gripper_z": -0.002059098328272446,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2674531475256321,
+              0.2729942608019324,
+              1.0524212925106933
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+            "finger_b": [
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+              0.29746226399898223,
+              1.0524212925106933
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+              0.2852282624004573,
+              1.0524212925106933
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+              0.012234001598524946,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.01080507238434054,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_tilt_deg": 0.5425597715193237,
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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_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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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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+              0.29605426330540463,
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+            "held_position": [
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+              0.30053536871888475,
+              1.2404826493265086
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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": 0.007453539856138658,
+            "max_held_gripper_dist": 0.007465552604884849,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002182142983797819,
+            "max_held_gripper_z_dist": 0.0023402185428786915,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08805528017542943,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2732405085592341,
+              0.2750084509758722,
+              1.2404826493265086
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+              0.30053536871888475,
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+              0.28777190984737844,
+              1.2404826493265086
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+            "held_grasp_object_position": [
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+              0.30053536871888475,
+              1.2404826493265086
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+            "held_grasp_finger_gap": 0.027401260929375258,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024578448608593054,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08536554138349338,
+              -0.9961526367680205,
+              0.019815362838548897
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003880887128827515,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03658076795612924,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3675250270070395,
+              0.08055413156428382,
+              0.767103797091426
+            ],
+            "target_position": [
+              0.36326073726863833,
+              0.07696887074740821,
+              0.7158860691194898
+            ],
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+            "xy_dist": 0.005571199341080595,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17610685945264343,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.767103797091426,
+            "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": 0.07527227241276875,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08640300086113449,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1450545090897019,
+            "release_required_pad_clearance": 0.05320150043056725,
+            "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": 1.4054693324433711,
+            "object_max_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": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f56494c2d080df663009f138095ae0ee991a6bd13633b9f784725360a9811faa",
+    "visual_seed": 7932015066554582865,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_59_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb5012d064a26fe8b01ca4e4f87e4325b0e315b6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_59_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+              0.2825360363557121,
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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"
+                },
+                {
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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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+    },
+    {
+      "step_index": 1,
+      "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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+            "gripper_position": [
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+            "max_held_gripper_z_dist": 0.045226818784743994,
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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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+              0.25898034984175444,
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+            "held_grasp_finger_gap": 0.03715145886043445,
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+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.03400460352338905,
+            "held_grasp_world_z_skew": 0.0011688775619680403,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.978395653461367,
+              0.0300158130582997
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.030728809252469035,
+            "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": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3595057459393689,
+              0.0759459941082149,
+              0.7671057121497247
+            ],
+            "target_position": [
+              0.3579453237474026,
+              0.07323522645431854,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0031278073295188135,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17305425864856716,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671057121497247,
+            "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": 0.07533609213749246,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08563759992625851,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14179953650077473,
+            "release_required_pad_clearance": 0.052818799963129257,
+            "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": 0.6818445369153825,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e4d8567e0247eeb23191cd0477517ee29af32205f22fdd8b975463f3cc558f52",
+    "visual_seed": 2139870428120619348,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_5_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2796339fc61642bf10b3ab23df3627150b2f4ee9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.30018034283390443,
+              1.0526936324064224
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+            "gripper_z": 1.0553369742377254,
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+            "gripper_position": [
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+              0.2950414984257844,
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+              0.0051388444081200135,
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+              0.2756190168351813,
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+              0.30018034283390443,
+              1.0526936324064224
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+              0.2878996798345429,
+              1.0526936324064224
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+            "fingertip_z_max_dist": 0.1,
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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": {
+              "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": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "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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+              0.2987614394099327,
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+              1.2409044699248886
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007937861253095094,
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+            "held_gripper_max_dist": 0.15,
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+            "max_held_gripper_z_dist": 0.0029306910672393105,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08793944368260476,
+            "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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+              0.2905835582385974,
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+              0.3033971514131474,
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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": 0.0246843202519952,
+            "held_grasp_world_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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+              -0.9964502230634116,
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004085402489964232,
+            "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": {
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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": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3589162504085607,
+              0.08237045356646666,
+              0.7671089227308772
+            ],
+            "target_position": [
+              0.3544173584269476,
+              0.07832245685106615,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006051967157058584,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17486348114050157,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671089227308772,
+            "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": 0.0756167012982389,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08556958425031334,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14298272925153868,
+            "release_required_pad_clearance": 0.052784792125156674,
+            "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": 0.5972611257611036,
+            "object_max_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": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c6ee6a9fdd8806cafead4f58fbd1e624a97b5327ad84e1cd7304f6acc2594fd5",
+    "visual_seed": 8853617882081620369,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_60_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7be2b43d83d324a2bc83a292ac0457d9d015761f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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": [
+    {
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+      "target": "beaker_a",
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+          "skill": "pick",
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+              1.0529382006421466
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+              1.0529382006421466
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+              0.28388171933741146,
+              1.0529382006421466
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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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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_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,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.29481142611238165,
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+              0.29934441715644505,
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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": 0.007711031800884402,
+            "max_held_gripper_dist": 0.007726235405958856,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0026044494794035256,
+            "max_held_gripper_z_dist": 0.0027629635415467035,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08808804600125159,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2708856917942744,
+              0.27376027657072427,
+              1.2410360301792465
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+              0.29934441715644505,
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+              0.28655234686358466,
+              1.2410360301792465
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+            "held_grasp_object_position": [
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+              0.29934441715644505,
+              1.2410360301792465
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+            "held_grasp_finger_gap": 0.027494564278020227,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024721208805270366,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07592445446184617,
+              -0.9961546340555567,
+              0.04371981546520132
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040887713840575745,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036595094269935645,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.35792836052420485,
+              0.07936242338939987,
+              0.767104845350518
+            ],
+            "target_position": [
+              0.35630449268316794,
+              0.07702434943794725,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0028466711379460646,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17280746016116336,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.767104845350518,
+            "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": 0.07531605855062022,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0860847808177596,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14151187801183474,
+            "release_required_pad_clearance": 0.0530423904088798,
+            "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": 1.106385144626985,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "afaa4857a1dc7f3f55ac8bfcf216cd2d8cf9b664992da627eed8577da18c7871",
+    "visual_seed": 8260265904378387028,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_61_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..80b1ade9b55712f2fd7bf57580c7a2617f02cc5d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              0.26129819816060096,
+              0.2981465225001908,
+              1.0520582876522342
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+            "gripper_z": 1.054609179922889,
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+            "gripper_position": [
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+              0.2931515449359029,
+              1.054609179922889
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+              0.004994977564287906,
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+            "object_to_gripper_z": -0.0025508922706547477,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.26129819816060096,
+              0.273486869055829,
+              1.0520582876522342
+            ],
+            "finger_b": [
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+              0.2981465225001908,
+              1.0520582876522342
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+            "finger_midpoint": [
+              0.25528604483419903,
+              0.2858166957780099,
+              1.0520582876522342
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+              0.012329826722180914,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.010807894953918562,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04844132905084633,
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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",
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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/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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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+              0.296964956152315,
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+            "held_position": [
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+              0.3015423393843192,
+              1.2407133408488917
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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": 0.007761313832705535,
+            "max_held_gripper_dist": 0.007776436163082451,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002651613954324672,
+            "max_held_gripper_z_dist": 0.0028106791844961787,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08783675675675603,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2667790976085592,
+              0.27600269864133675,
+              1.2407133408488917
+            ],
+            "held_grasp_finger_b": [
+              0.25651974688436,
+              0.3015423393843192,
+              1.2407133408488917
+            ],
+            "held_grasp_midpoint": [
+              0.2616494222464596,
+              0.28877251901282797,
+              1.2407133408488917
+            ],
+            "held_grasp_object_position": [
+              0.2667790976085592,
+              0.3015423393843192,
+              1.2407133408488917
+            ],
+            "held_grasp_finger_gap": 0.02752321795435146,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02473566294408874,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0714301637781053,
+              -0.9972141073900319,
+              0.0214885021566209
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004213623921786635,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03661959149556412,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3631435409728533,
+              0.07897826951200043,
+              0.767108553448794
+            ],
+            "target_position": [
+              0.35989596052683503,
+              0.07571072376995414,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004606911539168619,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17416452380897063,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.767108553448794,
+            "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": 0.07554683654278514,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0855490236370312,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14236433725134287,
+            "release_required_pad_clearance": 0.0527745118185156,
+            "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": 0.5921381306429394,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "17b3d6f1f3b82eb42ec41999d2f12d6341253011ca0d9ddc05602df6f061f705",
+    "visual_seed": 824383804833592956,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_62_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..77ad6db3f7b659047464737f21412a6182261475
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              0.25960879991378866,
+              0.30193272655330033,
+              1.051109196602861
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+            "gripper_z": 1.0535662428692105,
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+            "gripper_position": [
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+              0.29669108910951614,
+              1.0535662428692105
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+              0.005241637443784197,
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+            "object_to_gripper_z": -0.002457046266349572,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.25960879991378866,
+              0.2773599708054035,
+              1.051109196602861
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+            "finger_b": [
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+              0.30193272655330033,
+              1.051109196602861
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+            "finger_midpoint": [
+              0.25328080275029224,
+              0.2896463486793519,
+              1.051109196602861
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+            "object_minus_finger_midpoint": [
+              0.006327997163496413,
+              0.012286377873948429,
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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": 0.011251359834904792,
+            "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": 0.5682442037085812,
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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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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": [
+              0.2594323607314106,
+              0.30026866074824693,
+              1.2420014980887246
+            ],
+            "held_position": [
+              0.2654062719743534,
+              0.304956732453429,
+              1.2394183076073926
+            ],
+            "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": 0.00802112865588949,
+            "max_held_gripper_dist": 0.008034630240937602,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0025831904813320428,
+            "max_held_gripper_z_dist": 0.0027485350338043446,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08811163972504993,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2654062719743534,
+              0.27922077625927605,
+              1.2394183076073926
+            ],
+            "held_grasp_finger_b": [
+              0.2550182690144341,
+              0.304956732453429,
+              1.2394183076073926
+            ],
+            "held_grasp_midpoint": [
+              0.26021227049439377,
+              0.2920887543563525,
+              1.2394183076073926
+            ],
+            "held_grasp_object_position": [
+              0.2654062719743534,
+              0.304956732453429,
+              1.2394183076073926
+            ],
+            "held_grasp_finger_gap": 0.027753379014502963,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024712947508826282,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08829863632381277,
+              -0.9958904892035013,
+              0.020136641660558948
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040460922391872935,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036446529820193314,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3605910883184772,
+              0.07743216345749018,
+              0.7671060419188649
+            ],
+            "target_position": [
+              0.35596640973076116,
+              0.0735175913657878,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006059003771315412,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17497422824411266,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671060419188649,
+            "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": 0.07559519877091328,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08560467744532745,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14317323537521293,
+            "release_required_pad_clearance": 0.052802338722663725,
+            "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": 0.6452685446913611,
+            "object_max_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": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a5b61c8d3a964affaab7273d57dc0ca35524a5d0f7c637be9ec55b3aba8538b5",
+    "visual_seed": 3671325692864690923,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_64_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffd43f66ba183462bb5cae4d6108996073883238
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_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": [
+              0.25890797680722133,
+              0.30108701375911273,
+              1.0497460227155626
+            ],
+            "current_z": 1.0497460227155626,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.18863945509615165,
+            "gripper_z": 1.052317255905381,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25354738330650106,
+              0.2961232421302517,
+              1.052317255905381
+            ],
+            "object_minus_gripper": [
+              0.005360593500720268,
+              0.0049637716288610245,
+              -0.002571233189818445
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+            "object_to_gripper_xy": 0.007305819013871751,
+            "object_to_gripper_z": -0.002571233189818445,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25890797680722133,
+              0.2763872025069838,
+              1.0497460227155626
+            ],
+            "finger_b": [
+              0.24697692073745478,
+              0.30108701375911273,
+              1.0497460227155626
+            ],
+            "finger_midpoint": [
+              0.25294244877233807,
+              0.28873710813304826,
+              1.0497460227155626
+            ],
+            "object_minus_finger_midpoint": [
+              0.005965528034883261,
+              0.012349905626064472,
+              0.0
+            ],
+            "finger_gap": 0.027430471647981354,
+            "fingertip_max_gap": 0.09187695671181917,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01371523582399067,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0497460227155626,
+            "object_top_z": 1.100553442853566,
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+            "fingertip_min_top_clearance": 0.015242226041401012,
+            "object_projection_between_fingers": 0.8108130293156326,
+            "object_to_finger_line_xy": 0.010743338165805397,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04843847835590959,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6735170972460857,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
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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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+              0.29983846181097434,
+              1.241016321046604
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+              0.3043994575058161,
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+            "required_gripper_z": 0.8974145980897915,
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+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0077484758847324335,
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+            "held_gripper_z_dist": 0.0026711986616452243,
+            "max_held_gripper_z_dist": 0.0028308175140996372,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08783472356557293,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26430475777932594,
+              0.2788556475664836,
+              1.2383451223849589
+            ],
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+              0.3043994575058161,
+              1.2383451223849589
+            ],
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+              0.29162755253614986,
+              1.2383451223849589
+            ],
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+              0.26430475777932594,
+              0.3043994575058161,
+              1.2383451223849589
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+            "held_grasp_finger_gap": 0.02751131170718197,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02475541486334098,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07041515660850067,
+              -0.997300049737406,
+              0.020840261840193604
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+            "held_grasp_object_to_finger_line_xy": 0.00420512899739541,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03662311457878643,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.35966725150385415,
+              0.07449171628657286,
+              0.7671034135099063
+            ],
+            "target_position": [
+              0.3563787960358853,
+              0.07118026356157968,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004666868169841422,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1734791047755655,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671034135099063,
+            "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": 0.07560253113491913,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08534630717624246,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14164308370770762,
+            "release_required_pad_clearance": 0.05267315358812123,
+            "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": 0.38956118198192774,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3b8af55506d5ab6d6e5b15e45e46e614222a6d7f04431bb8e44524da46637f76",
+    "visual_seed": 1332236537933268016,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_65_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c921f89d88fa903e4b6b3006ae2b6b0e8ca5fa4e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
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+          "metrics": {
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+              0.29539208078496926,
+              1.0510090630849414
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+            "gripper_z": 1.053532633237496,
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+            "gripper_position": [
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+              0.29040485608981415,
+              1.053532633237496
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+              0.005361001919877817,
+              0.0049872246951551125,
+              -0.002523570152554555
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+            "object_to_gripper_z": -0.002523570152554555,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2594299468938291,
+              0.27072187217116683,
+              1.0510090630849414
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+            "finger_b": [
+              0.24742859464321734,
+              0.29539208078496926,
+              1.0510090630849414
+            ],
+            "finger_midpoint": [
+              0.25342927076852323,
+              0.28305697647806805,
+              1.0510090630849414
+            ],
+            "object_minus_finger_midpoint": [
+              0.006000676125305859,
+              0.012335104306901212,
+              0.0
+            ],
+            "finger_gap": 0.027434497423714455,
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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": 0.8086333085759698,
+            "object_to_finger_line_xy": 0.01079210087568035,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047828931697510346,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2728447743751093,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "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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+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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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": [
+              0.25922644797817657,
+              0.2943245064491823,
+              1.2424319721982333
+            ],
+            "held_position": [
+              0.26490245953952674,
+              0.29889556196968625,
+              1.2398029785983744
+            ],
+            "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": 0.0077474681776829295,
+            "max_held_gripper_dist": 0.007762001719172348,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0026289935998589087,
+            "max_held_gripper_z_dist": 0.0027834980012091393,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0878889370131844,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26490245953952674,
+              0.27335642268890065,
+              1.2398029785983744
+            ],
+            "held_grasp_finger_b": [
+              0.2546670556997732,
+              0.29889556196968625,
+              1.2398029785983744
+            ],
+            "held_grasp_midpoint": [
+              0.25978475761965,
+              0.2861259923292935,
+              1.2398029785983744
+            ],
+            "held_grasp_object_position": [
+              0.26490245953952674,
+              0.29889556196968625,
+              1.2398029785983744
+            ],
+            "held_grasp_finger_gap": 0.027513835191884963,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024726809790080833,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07255008343966049,
+              -0.9972688943301817,
+              0.01382887538288613
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004181621375880509,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03661426577244191,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3600011972695947,
+              0.0751462612494882,
+              0.7671079479127126
+            ],
+            "target_position": [
+              0.35604610109821133,
+              0.07145483693416328,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005410120072665968,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1735847670550986,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671079479127126,
+            "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": 0.07566504124105763,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08500702489394811,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1416216824570286,
+            "release_required_pad_clearance": 0.05250351244697406,
+            "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": 0.07912924659722521,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e5c45308c6036265064af0b5279785992a49320e0df410d269733978dc8bd292",
+    "visual_seed": 2939521397599928650,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_66_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..835b020c0fc76298905633b7c87aa2502c7bdcc9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.258653594567379,
+              0.29527105720935726,
+              1.0511168989190265
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+            "lift_margin": 0.19001003327639177,
+            "gripper_z": 1.0543312838148962,
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+            "gripper_position": [
+              0.2526593807735698,
+              0.2899791367419515,
+              1.0543312838148962
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+              0.005994213793809211,
+              0.005291920467405731,
+              -0.003214384895869671
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+            "object_to_gripper_xy": 0.00799593779610874,
+            "object_to_gripper_z": -0.003214384895869671,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.258653594567379,
+              0.27015089937929226,
+              1.0511168989190265
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+            "finger_b": [
+              0.24622505296279817,
+              0.29527105720935726,
+              1.0511168989190265
+            ],
+            "finger_midpoint": [
+              0.2524393237650886,
+              0.2827109782943248,
+              1.0511168989190265
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+            "object_minus_finger_midpoint": [
+              0.0062142708022904225,
+              0.012560078915032469,
+              0.0
+            ],
+            "finger_gap": 0.028026611921960397,
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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": 1.1022948169719373,
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+            "fingertip_min_top_clearance": 0.015353375415873248,
+            "object_projection_between_fingers": 0.8033476498508191,
+            "object_to_finger_line_xy": 0.011139659962250689,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04931497338594627,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1886488334161822,
+            "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_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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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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": [
+              0.2573973983194685,
+              0.2944848704082995,
+              1.2438900190678508
+            ],
+            "held_position": [
+              0.2636745520268904,
+              0.2994419189094078,
+              1.240519004567435
+            ],
+            "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": 0.008679788434688574,
+            "max_held_gripper_dist": 0.008696631272541075,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00337101450041577,
+            "max_held_gripper_z_dist": 0.003537160729061739,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08740798180151904,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2636745520268904,
+              0.2737289109470533,
+              1.240519004567435
+            ],
+            "held_grasp_finger_b": [
+              0.2524628952532787,
+              0.2994419189094078,
+              1.240519004567435
+            ],
+            "held_grasp_midpoint": [
+              0.25806872364008454,
+              0.28658541492823053,
+              1.240519004567435
+            ],
+            "held_grasp_object_position": [
+              0.2636745520268904,
+              0.2994419189094078,
+              1.240519004567435
+            ],
+            "held_grasp_finger_gap": 0.028051025401603022,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025369769340614298,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.028807430045837107,
+              -0.9992120873774825,
+              0.027300850039674418
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005245044211583356,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03671238638158416,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3635033221901247,
+              0.07336149517973262,
+              0.7671060135723258
+            ],
+            "target_position": [
+              0.36104269769997,
+              0.07024767146668562,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003968698904865794,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17187580133393235,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671060135723258,
+            "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": 0.07556375396317334,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08669872764929175,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14018669077267018,
+            "release_required_pad_clearance": 0.053349363824645876,
+            "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": 1.71321631125912,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 137,
+            "max_placed_release_frames": 137
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "87d0b01d6ae45d1ddbbe1e94f373f507c0ac445d34b2c814e058a9ef2a4273d2",
+    "visual_seed": 7570348475948325759,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_67_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c343759b846eef9187b80d2ae60d24d5114a7ac
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.25942793508027295,
+              0.2972467445860895,
+              1.0522304534776654
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+            "current_z": 1.0522304534776654,
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+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.1911238858582548,
+            "gripper_z": 1.0545840938250457,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2539916299890762,
+              0.29222012882116494,
+              1.0545840938250457
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+            "object_minus_gripper": [
+              0.005436305091196747,
+              0.00502661576492458,
+              -0.0023536403473802814
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+            "object_to_gripper_xy": 0.007404071791437465,
+            "object_to_gripper_z": -0.0023536403473802814,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25942793508027295,
+              0.27253824677956806,
+              1.0522304534776654
+            ],
+            "finger_b": [
+              0.24734819167566405,
+              0.2972467445860895,
+              1.0522304534776654
+            ],
+            "finger_midpoint": [
+              0.2533880633779685,
+              0.2848924956828288,
+              1.0522304534776654
+            ],
+            "object_minus_finger_midpoint": [
+              0.006039871702304467,
+              0.0123542489032607,
+              0.0
+            ],
+            "finger_gap": 0.0275032737065257,
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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": 1.0522304534776654,
+            "object_top_z": 1.1019748695231328,
+            "finger_top_clearance": 0.04974441604546742,
+            "fingertip_min_top_clearance": 0.014923324813640192,
+            "object_projection_between_fingers": 0.8070935998518626,
+            "object_to_finger_line_xy": 0.010852246776182961,
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+                "dummy_base_revolute_z_joint",
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+                "festo",
+                "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",
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+                "joint1",
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+                "joint3",
+                "joint4",
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+                "joint7",
+                "left_inner_finger",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "desk",
+                "floor",
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+                "table",
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+                "workbench"
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+            },
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+            "disturbances": [],
+            "last_frame": {
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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": [
+              0.2592139118465133,
+              0.2961954723739619,
+              1.2447461949024519
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+            "held_position": [
+              0.26497183529707824,
+              0.30080527284641007,
+              1.242293309774511
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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": 0.007773068140008956,
+            "max_held_gripper_dist": 0.007786253049022395,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0024528851279408403,
+            "max_held_gripper_z_dist": 0.0026102531840597187,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08788651534025238,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26497183529707824,
+              0.275222274030313,
+              1.242293309774511
+            ],
+            "held_grasp_finger_b": [
+              0.25464496222950306,
+              0.30080527284641007,
+              1.242293309774511
+            ],
+            "held_grasp_midpoint": [
+              0.25980839876329065,
+              0.28801377343836154,
+              1.242293309774511
+            ],
+            "held_grasp_object_position": [
+              0.26497183529707824,
+              0.30080527284641007,
+              1.242293309774511
+            ],
+            "held_grasp_finger_gap": 0.027588659550225207,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02472600857292245,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07574673268597626,
+              -0.997077615881531,
+              0.009932793937337814
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004181678032063671,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036575018889902215,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3619701276622119,
+              0.07861487700155698,
+              0.7671059669503749
+            ],
+            "target_position": [
+              0.3580299623124103,
+              0.07472939412223684,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005533704020750234,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17433133500212125,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671059669503749,
+            "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": 0.07532571662988596,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08592790848965091,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14323422129923682,
+            "release_required_pad_clearance": 0.05296395424482546,
+            "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": 0.9634657381705263,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "45da6ed0c043b823cc617814ed882397ab6b891009a2e2ca6c0642327eb479bf",
+    "visual_seed": 2838907370464780319,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_68_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..25894c69ecab24572ae8d34e719b794b1511c6f9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2613550300359726,
+              0.2999151404380082,
+              1.0500139466287544
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+            "current_z": 1.0500139466287544,
+            "required_z": 0.86110680603799,
+            "initial_z": 0.76110680603799,
+            "lift_margin": 0.1889071405907644,
+            "gripper_z": 1.052502911657549,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25586376891920104,
+              0.2948500949937407,
+              1.052502911657549
+            ],
+            "object_minus_gripper": [
+              0.005491261116771562,
+              0.005065045444267502,
+              -0.0024889650287946985
+            ],
+            "object_to_gripper_xy": 0.00747051765308551,
+            "object_to_gripper_z": -0.0024889650287946985,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2613550300359726,
+              0.27517419390142417,
+              1.0500139466287544
+            ],
+            "finger_b": [
+              0.2492140468673812,
+              0.2999151404380082,
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
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+                "fr3_rightfinger",
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+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
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+                "joint7",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "desk",
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+            },
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+            "last_frame": {
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
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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": [
+              0.2610273685714447,
+              0.29856206986552686,
+              1.2432830728992257
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+            "held_position": [
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+              0.3031977405588472,
+              1.240710493757144
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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": 0.007875041251826375,
+            "max_held_gripper_dist": 0.007888916684013828,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0025725791420816435,
+            "max_held_gripper_z_dist": 0.002735119452685897,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08788285619636338,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2668504835882364,
+              0.27757156695389157,
+              1.240710493757144
+            ],
+            "held_grasp_finger_b": [
+              0.2564521122956412,
+              0.3031977405588472,
+              1.240710493757144
+            ],
+            "held_grasp_midpoint": [
+              0.26165129794193875,
+              0.29038465375636935,
+              1.240710493757144
+            ],
+            "held_grasp_object_position": [
+              0.2668504835882364,
+              0.3031977405588472,
+              1.240710493757144
+            ],
+            "held_grasp_finger_gap": 0.027655503957982608,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024767343722199436,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0753685665568154,
+              -0.997068639857602,
+              0.013179779500536282
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004222176073186238,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0365528678701469,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3658863705541643,
+              0.07936688250350896,
+              0.7671037838824474
+            ],
+            "target_position": [
+              0.361465714810007,
+              0.07571077177141107,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005736666531506966,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17678913945956193,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671037838824474,
+            "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": 0.0755783778217749,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08513944068174427,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14497227204362723,
+            "release_required_pad_clearance": 0.052569720340872136,
+            "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": 0.1894428636560126,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8b4e605d019411f4ca37a495c89a33bdb12ed72c20c078e0602f93a41faa222c",
+    "visual_seed": 2937041870438199755,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_69_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..881ce7a06bcb72998b0ed34d86bf9357036be374
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_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": [
+              0.259726558078482,
+              0.293312030302832,
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+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
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+                "gripper",
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+                "joint1",
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+                "joint3",
+                "joint4",
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+                "joint6",
+                "joint7",
+                "left_inner_finger",
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+                "mobile_translate_x",
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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",
+                "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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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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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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+              0.2918290768013349,
+              1.2433553198684784
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+              0.2964065732040403,
+              1.2406677893699887
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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": 0.007772945530752917,
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+            "held_gripper_z_dist": 0.0026875304984896875,
+            "max_held_gripper_z_dist": 0.0028397891229756667,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08748625827848494,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2653641019071071,
+              0.2708296190058245,
+              1.2406677893699887
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+            "held_grasp_finger_b": [
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+              0.2964065732040403,
+              1.2406677893699887
+            ],
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+              0.2602635305858729,
+              0.2836180961049324,
+              1.2406677893699887
+            ],
+            "held_grasp_object_position": [
+              0.2653641019071071,
+              0.2964065732040403,
+              1.2406677893699887
+            ],
+            "held_grasp_finger_gap": 0.02753622881350338,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024513172831633002,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09277856355763642,
+              -0.9954125106273894,
+              0.023368179874758255
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0039039561223528684,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03651721629326381,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3674515935350439,
+              0.08220665127434723,
+              0.7671056447201782
+            ],
+            "target_position": [
+              0.36366856114888074,
+              0.07871478493961041,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005148248686148309,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17374926120437845,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671056447201782,
+            "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": 0.07521740754397137,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08740424790916633,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14297997568463305,
+            "release_required_pad_clearance": 0.05370212395458317,
+            "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": 2.4040587495259795,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bbee907c6acd53c945ddaf97e1b7f70a33127816f20f541ee0c57718dbb40804",
+    "visual_seed": 8793229826427122327,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_6_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd3362d467a4d14e2a66e7cd603dc895dba06901
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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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+              1.0495328153357464
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+              0.2707454483268637,
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+              0.28307971130813114,
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+              0.0,
+              1.0
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+            "stable_success_frames": 222,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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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",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
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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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+              0.2941537026607741,
+              1.2425774941029857
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+            "held_position": [
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+              0.2987315788998961,
+              1.2400499593079726
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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_z_dist": 0.0026814922053488566,
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+            "held_object_xy_range": 0.08788199633667157,
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+            "held_motion_ok": true,
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+              0.28595640935123895,
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+              0.2987315788998961,
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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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+              -0.9970078734825987,
+              0.013522625966634779
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+            "held_grasp_object_to_finger_line_xy": 0.004162405161576189,
+            "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": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "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": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
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+            "gripper_away_threshold": 0.04,
+            "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_fingertip_min_gap": 0.0863050875906106,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14335019001839963,
+            "release_required_pad_clearance": 0.053152543795305304,
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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,
+            "object_tilt_deg": 1.3252727855190134,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+              "forbidden": [],
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+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "inspection_platform",
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+        "attach_object": null,
+        "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": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
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+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "70889f89f400cf55c0ed6a837871ba643f15778d9a0b1f990289954e042444e9",
+    "visual_seed": 6212193714770274246,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_70_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..82fd29745b410571c35c674a4c64b28a09ac99cd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_70_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+              0.2670031885190911,
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+              0.2792690779466539,
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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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+              "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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+                  "b": "/World/beaker_2/mesh"
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+          }
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "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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+              0.29449903476602973,
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+            "max_held_gripper_z_dist": 0.002711746543461846,
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+              0.2816568885084709,
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+              0.29449903476602973,
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+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+              -0.9958114045220453,
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+            "held_grasp_object_to_finger_line_xy": 0.004014423455192731,
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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",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "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": [],
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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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+            "release_min_pad_clearance": 0.14108031829579187,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "max_z_margin": 0.1,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "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"
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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": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1bc5556283b936caa9684e42b5462542c6e45f32e7035a678a953da7eb57b3f0",
+    "visual_seed": 2629546139742930583,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
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+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_71_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b1309b643f1407b858d009493b681780a157eac
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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": [
+    {
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+              1.0495368950651187
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+              1.0495368950651187
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+              0.2819582576141627,
+              1.0495368950651187
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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": {
+            "policy": {
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+              "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": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
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+            },
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+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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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+              0.29256477936855824,
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+              0.2971675818777745,
+              1.237436608810456
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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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+            "held_gripper_z_dist": 0.0023874709190550014,
+            "max_held_gripper_z_dist": 0.0025443208717745858,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08730998658342698,
+            "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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+              0.2843493487590743,
+              1.237436608810456
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+            "held_grasp_object_position": [
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+              0.2971675818777745,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024602523735018887,
+            "held_grasp_world_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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+              -0.9956099159945536,
+              0.023665212518350964
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003917778042633884,
+            "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": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+      }
+    },
+    {
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+      "skill": "place",
+      "target": "inspection_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_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08668377016028737,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14324675306383808,
+            "release_required_pad_clearance": 0.05334188508014369,
+            "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": 1.6999160152958372,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "998ed7335c55d90960292e6cedd373929adbc78913ad53b8cc8fd614ac9a38ca",
+    "visual_seed": 3369844210962913685,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_72_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8336ff540aa1a652670a7a297b7eba4d7611bfce
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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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+      "target": "beaker_a",
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+      "reason": "executed",
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+              1.0513485073319986
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+            "gripper_position": [
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+              0.29015519837075987,
+              1.0540231492994976
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+              0.004935461964120036,
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+              0.27041426950614683,
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+              1.0513485073319986
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+              0.28275246492051337,
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+              0.012338195414366537,
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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": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
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+                {
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+          }
+        },
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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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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+              0.29404052483432525,
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+              1.2401896936757884
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "held_gripper_z_dist": 0.0027788406351736405,
+            "max_held_gripper_z_dist": 0.0029319867040964454,
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+            "held_grasp_geometry_required": true,
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+              0.2985776366881579,
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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": 0.024723432761403492,
+            "held_grasp_world_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": 0.00418799989680178,
+            "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": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "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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+              "failed_keys": []
+            },
+            "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_min_pad_clearance": 0.13996368513142204,
+            "release_required_pad_clearance": 0.052520619325913884,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.09636430972098718,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 138,
+            "max_placed_release_frames": 138
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b5504b98745ead706d20bf374c7c6cc8c8f37139b05f0a7b1132104dc24b08a7",
+    "visual_seed": 6492573078770614942,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_73_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..58e6153003c69986c346d4b06d2715591f1a7771
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+              0.2986745131116169,
+              1.0503140577733765
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+            "gripper_z": 1.0528406347254198,
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+            "gripper_position": [
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+              0.2937694009870016,
+              1.0528406347254198
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+              0.004905112124615307,
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+            "object_to_gripper_z": -0.00252657695204328,
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+              0.27396534874053136,
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+              1.0503140577733765
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+              0.2863199309260741,
+              1.0503140577733765
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+              0.012354582185542806,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04920194771019533,
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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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                },
+                {
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+          }
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+      },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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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+              0.30203262887365795,
+              1.2392444655547532
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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": 0.007660732878000378,
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+            "held_gripper_z_dist": 0.0026234830786540098,
+            "max_held_gripper_z_dist": 0.002779948420354117,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0878520263437163,
+            "held_object_min_xy_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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+              0.27652615032115857,
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+              0.2892793895974083,
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+              0.30203262887365795,
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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": 0.024817398946368883,
+            "held_grasp_world_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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+              0.02932061378022343
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0042933872333600276,
+            "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": []
+            },
+            "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": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
+          "target": "inspection_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": 0.07540306619842592,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.085227740527679,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14024398005564195,
+            "release_required_pad_clearance": 0.0526138702638395,
+            "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": 0.2825065420552291,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 137,
+            "max_placed_release_frames": 137
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fa55cbab68548d0c400d5d62b187d937fe4ac0a46d7ca6b050f1389dd82751c0",
+    "visual_seed": 4063761471682473924,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_74_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4aac1254e55642c2b55dbb20bdcd8a66b95edf3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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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+              0.28167824637699,
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+              0.0,
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+            "stable_success_frames": 199,
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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",
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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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+        "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": 0.03168989888932927,
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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": 0.0006904050516398641,
+            "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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+              "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": [],
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+            "last_frame": {
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+              "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": [],
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+            "failed_keys": []
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+    },
+    {
+      "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": [
+              0.3592729056431982,
+              0.0702061969235204,
+              0.7671010760485284
+            ],
+            "target_position": [
+              0.3604375869948181,
+              0.06996955639643526,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0011884786030342698,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1712580816254722,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671010760485284,
+            "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": 0.0751610229722383,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08872958003061697,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13989274371885266,
+            "release_required_pad_clearance": 0.05436479001530849,
+            "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": 3.7510979280799632,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 137,
+            "max_placed_release_frames": 137
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "303240f62618f8e4fbde38dc09c905601ef623054f2bf8cef2f87ae59a60e486",
+    "visual_seed": 3217342556118045567,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_76_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c87e97465a8c909bf8012e41d82ec0b69de12a76
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.25837835445276625,
+              0.29688560468957376,
+              1.0533236762269238
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+            "current_z": 1.0533236762269238,
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+            "lift_margin": 0.19221716821215773,
+            "gripper_z": 1.0557790372763898,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25305154455093826,
+              0.2918641139729031,
+              1.0557790372763898
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+              0.005326809901827989,
+              0.005021490716670629,
+              -0.002455361049465976
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+            "object_to_gripper_xy": 0.007320537736247387,
+            "object_to_gripper_z": -0.002455361049465976,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.25837835445276625,
+              0.272311268345627,
+              1.0533236762269238
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+            "finger_b": [
+              0.24623812274386458,
+              0.29688560468957376,
+              1.0533236762269238
+            ],
+            "finger_midpoint": [
+              0.2523082385983154,
+              0.2845984365176004,
+              1.0533236762269238
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060701158544508305,
+              0.01228716817197334,
+              0.0
+            ],
+            "finger_gap": 0.027409546378793698,
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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": 0.015124877570756156,
+            "object_projection_between_fingers": 0.8038220213994942,
+            "object_to_finger_line_xy": 0.010884460953312816,
+            "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": 0.4167028177910722,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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": [
+              0.2582245185155363,
+              0.2957160525093284,
+              1.2445622325938603
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+            "held_position": [
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+              0.3002972795995085,
+              1.2420016018973832
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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": 0.007724225308534691,
+            "max_held_gripper_dist": 0.007738724986351083,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002560630696477162,
+            "max_held_gripper_z_dist": 0.002716484342044634,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08675209613525062,
+            "held_object_min_xy_range": 0.04,
+            "held_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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+              0.27477205121607673,
+              1.2420016018973832
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+              0.3002972795995085,
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+              0.2875346654077926,
+              1.2420016018973832
+            ],
+            "held_grasp_object_position": [
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+              0.3002972795995085,
+              1.2420016018973832
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+            "held_grasp_finger_gap": 0.02751186465732407,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024692015768260904,
+            "held_grasp_world_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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+              -0.9971146201181016,
+              0.01693715364202186
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00417967649541976,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03661467955125213,
+            "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": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3656639621904557,
+              0.07525656416406952,
+              0.7671056629257651
+            ],
+            "target_position": [
+              0.3613490790721636,
+              0.07154006198838646,
+              0.7158860691194898
+            ],
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+            "xy_dist": 0.005694787506692327,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17328424062947112,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671056629257651,
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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": 0.08547959985299379,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14173397882141953,
+            "release_required_pad_clearance": 0.0527397999264969,
+            "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": 0.5308147920641925,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 138,
+            "max_placed_release_frames": 138
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "43f0ca8c643576b2223925d8ee1ad557fb069a4bd151c1a2122a8ca283a38bb7",
+    "visual_seed": 1374987728588483297,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_77_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..809c2675284ec40fb76bc90cfedff893f5c2fc1f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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",
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+              0.3015909379799289,
+              1.0501457527211389
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+            "gripper_position": [
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+              0.2893252720295627,
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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": 223,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
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+          }
+        },
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+        "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": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007586675148048725,
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+            "held_gripper_max_dist": 0.15,
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+            "max_held_gripper_z_dist": 0.002538672278877163,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08783977777869856,
+            "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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+              0.2794377924880637,
+              1.237671553889317
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+              0.29219365403274244,
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+            "held_grasp_object_position": [
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+              0.30494951557742117,
+              1.237671553889317
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+            "held_grasp_finger_gap": 0.02743836150099172,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02462676580659523,
+            "held_grasp_world_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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+              -0.9966268006654683,
+              0.021879128925601732
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004035334834734516,
+            "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": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3641176144664657,
+              0.08275090403160297,
+              0.7671042927001925
+            ],
+            "target_position": [
+              0.360284163400072,
+              0.0791898792632506,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0052322313098002145,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1750251481309417,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671042927001925,
+            "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": 0.07547211254816792,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08607806402117389,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1435822618636107,
+            "release_required_pad_clearance": 0.05303903201058695,
+            "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": 1.0949856221780283,
+            "object_max_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": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "39921f3499b74f6130729a51f5cd46e3722f61f12fe33d03aac4437e5d41af8c",
+    "visual_seed": 2730141244460342616,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_78_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..886ae7240995bc771f9dd6e487c50f458dfce2a5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
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+              0.29782208212699685,
+              1.0517906952043137
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+              0.27317084940851605,
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+              0.29782208212699685,
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+              0.28549646576775645,
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+              0.0,
+              1.0
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+            "stable_success_frames": 224,
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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": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+            },
+            "failed_keys": []
+          }
+        },
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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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+              0.29657836585974995,
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+            "held_shake_count": 5,
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+            "held_gripper_max_dist": 0.15,
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+            "max_held_gripper_z_dist": 0.0028226695919668643,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08781138932069238,
+            "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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+              1.2382333684949884
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+              0.28845758515310543,
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+            "held_grasp_object_position": [
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+              0.30125680634581475,
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
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+            "held_grasp_z_skew": 0.024694097316849465,
+            "held_grasp_world_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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+              -0.9967550950331087,
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0041812953855354254,
+            "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": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3595508120769262,
+              0.07618500319376426,
+              0.7671052876865093
+            ],
+            "target_position": [
+              0.3553716087408304,
+              0.0723138216970681,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005696646970349911,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17584213621673295,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671052876865093,
+            "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": 0.07557089598832716,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0857100197091084,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1439858409019293,
+            "release_required_pad_clearance": 0.0528550098545542,
+            "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": 0.7527701187994151,
+            "object_max_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": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0c4e3b84f8dac98e2f37a55385edf15b158877371d2c668e2aa9ef155e3310ae",
+    "visual_seed": 3660325839053469087,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_79_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..834c2975580887586ed83fa175bafbf76e9a4660
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
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+              0.29973260973988347,
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+              0.004970064496986948,
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+              0.2752539408445114,
+              1.0513640162476001
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+              1.0513640162476001
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+            "finger_midpoint": [
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+              0.2874932752921974,
+              1.0513640162476001
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+              0.012239334447686046,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 224,
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+            "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": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "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": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2985584852134021,
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+              0.3030751211918146,
+              1.2393388831699466
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007575438292571347,
+            "max_held_gripper_dist": 0.0075904849265807485,
+            "held_gripper_max_dist": 0.15,
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+            "max_held_gripper_z_dist": 0.0026421225649808644,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08783896247706124,
+            "held_object_min_xy_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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+              1.2393388831699466
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+              0.3030751211918146,
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+              0.2903312164195689,
+              1.2393388831699466
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+            "held_grasp_object_position": [
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+              0.3030751211918146,
+              1.2393388831699466
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+            "held_grasp_finger_gap": 0.027400631610183898,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02459528668975897,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07990854439327727,
+              -0.9965163134248083,
+              0.023871774361722834
+            ],
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+            "held_grasp_object_to_finger_line_xy": 0.004006573996095408,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03661887541042426,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.35900225884765635,
+              0.074467499897266,
+              0.7671078802133161
+            ],
+            "target_position": [
+              0.35571996617788804,
+              0.0707775712769588,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0049385239083127915,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1735143176170944,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671078802133161,
+            "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": 0.07513674532210748,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08678503201866726,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1428928863973076,
+            "release_required_pad_clearance": 0.05339251600933363,
+            "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": 1.7979267515613984,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d50dd651ab63ce676433ee621657b3af096b0bdaad857e3a31875fc830cd7312",
+    "visual_seed": 8893007278141460650,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_81_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0548f46d4cc4c6457168de8b85f380eb11967e00
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2647220324855647,
+              0.2976633873647352,
+              1.052103947399867
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+            "gripper_z": 1.0545228313611659,
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+            "gripper_position": [
+              0.25942073346222705,
+              0.2927371331457459,
+              1.0545228313611659
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+              0.005301299023337647,
+              0.00492625421898929,
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+            "object_to_gripper_z": -0.0024188839612988566,
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+              0.2647220324855647,
+              0.2729936056416783,
+              1.052103947399867
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+              0.25286202018665116,
+              0.2976633873647352,
+              1.052103947399867
+            ],
+            "finger_midpoint": [
+              0.2587920263361079,
+              0.28532849650320674,
+              1.052103947399867
+            ],
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+              0.005930006149456768,
+              0.012334890861528447,
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+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_projection_between_fingers": 0.8122677534287754,
+            "object_to_finger_line_xy": 0.010688942616244663,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04907394529380589,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.095061439574829,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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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+              0.29675909020999536,
+              1.2419684183152526
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+            "held_position": [
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+              0.30131135499304373,
+              1.2394176547923204
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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": 0.00763605381294864,
+            "max_held_gripper_dist": 0.0076508577415563125,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0025507635229322645,
+            "max_held_gripper_z_dist": 0.0027095548097577637,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08651896134377599,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2701333982403604,
+              0.275856423442169,
+              1.2394176547923204
+            ],
+            "held_grasp_finger_b": [
+              0.2599512404904688,
+              0.30131135499304373,
+              1.2394176547923204
+            ],
+            "held_grasp_midpoint": [
+              0.2650423193654146,
+              0.28858388921760636,
+              1.2394176547923204
+            ],
+            "held_grasp_object_position": [
+              0.2701333982403604,
+              0.30131135499304373,
+              1.2394176547923204
+            ],
+            "held_grasp_finger_gap": 0.027415869067082238,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024760650535398856,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06226464820052698,
+              -0.9976314002205773,
+              0.029235301920712324
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0043052418174673816,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036705936332176364,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3640898531198663,
+              0.07605677210602904,
+              0.7671038997342048
+            ],
+            "target_position": [
+              0.36113486911778886,
+              0.07281724321584167,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004384800780296895,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17455465453275623,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671038997342048,
+            "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": 0.07555947603252544,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08530809721418874,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1427033189388628,
+            "release_required_pad_clearance": 0.05265404860709437,
+            "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": 0.3301321961597669,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ffa2eb64f07c3f0fb872ce8d27cafc4c325174246798c2953c6683236ca7e3e8",
+    "visual_seed": 7828854676791713293,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_83_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..916936c1bbfb46bb3683bbd5b5d0ec75186fe0b2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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": [
+    {
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+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
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+              1.0513214049543955
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+              0.2905347128072897,
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+              0.2630953318456498,
+              0.2708875076988417,
+              1.0513214049543955
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+              0.29554972634897025,
+              1.0513214049543955
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+              0.2570605220989412,
+              0.28321861702390594,
+              1.0513214049543955
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+              0.012331109325064316,
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+            "object_to_finger_line_xy": 0.010840982335056416,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04842690122485775,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 224,
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+            "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"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": 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": [
+              0.2628675656185162,
+              0.2944328627924351,
+              1.243621904890278
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+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007779217750803719,
+            "max_held_gripper_dist": 0.007793923350655072,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0026061063484057456,
+            "max_held_gripper_z_dist": 0.0027637781881424406,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0874672833614874,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2685766437614845,
+              0.2734821810656667,
+              1.2410157985418722
+            ],
+            "held_grasp_finger_b": [
+              0.25824271471390303,
+              0.29902969488341913,
+              1.2410157985418722
+            ],
+            "held_grasp_midpoint": [
+              0.26340967923769376,
+              0.2862559379745429,
+              1.2410157985418722
+            ],
+            "held_grasp_object_position": [
+              0.2685766437614845,
+              0.29902969488341913,
+              1.2410157985418722
+            ],
+            "held_grasp_finger_gap": 0.02755840256307865,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02474520406010229,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07087495776790399,
+              -0.9972641966915101,
+              0.020996722568893733
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004257331302464877,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036615231255220065,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3619506718601665,
+              0.07634693195089767,
+              0.7671043446045794
+            ],
+            "target_position": [
+              0.3587941344732437,
+              0.07316168658405345,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004484363535892683,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17307060985558992,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671043446045794,
+            "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": 0.07576955065481653,
+            "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": 0.14088988865701993,
+            "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": 0.8774145980897915,
+            "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": 138,
+            "max_placed_release_frames": 138
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a2d756fcd34b99edde0f8475bbf71ad976a3c609e51d93b0fc932e97bbfec33d",
+    "visual_seed": 1211708075597132228,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_84_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9de989919192aedb6239bf68993a4a0170b8ad5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2607308483388211,
+              0.2937515881651489,
+              1.0508669470755287
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+            "lift_margin": 0.1897604390607628,
+            "gripper_z": 1.0540047917488868,
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+            "gripper_position": [
+              0.25485693151788913,
+              0.2885419468359884,
+              1.0540047917488868
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+              0.005873916820931968,
+              0.005209641329160519,
+              -0.0031378446733580923
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+            "object_to_gripper_z": -0.0031378446733580923,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2607308483388211,
+              0.2686759829537114,
+              1.0508669470755287
+            ],
+            "finger_b": [
+              0.24847392442759594,
+              0.2937515881651489,
+              1.0508669470755287
+            ],
+            "finger_midpoint": [
+              0.25460238638320853,
+              0.28121378555943016,
+              1.0508669470755287
+            ],
+            "object_minus_finger_midpoint": [
+              0.006128461955612563,
+              0.01253780260571874,
+              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": 0.8071518850446978,
+            "object_to_finger_line_xy": 0.011011820481680376,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04943638171580779,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.248357468645074,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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": [
+              0.2597497145480059,
+              0.29262790358472834,
+              1.2404842624111578
+            ],
+            "held_position": [
+              0.2658699930849371,
+              0.29747454457750944,
+              1.2372094766678088
+            ],
+            "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": 0.008465929361113818,
+            "max_held_gripper_dist": 0.008484762987857884,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032747857433490513,
+            "max_held_gripper_z_dist": 0.0034372246907714565,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08784837238072468,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2658699930849371,
+              0.2717636173231447,
+              1.2372094766678088
+            ],
+            "held_grasp_finger_b": [
+              0.255082926280835,
+              0.29747454457750944,
+              1.2372094766678088
+            ],
+            "held_grasp_midpoint": [
+              0.260476459682886,
+              0.28461908095032706,
+              1.2372094766678088
+            ],
+            "held_grasp_object_position": [
+              0.2658699930849371,
+              0.29747454457750944,
+              1.2372094766678088
+            ],
+            "held_grasp_finger_gap": 0.027882119548474013,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025278589544534723,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03778890871357129,
+              -0.9990390767770376,
+              0.022201834399923293
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004912317469897022,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03667332381508029,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.35991898596978433,
+              0.07961027219945144,
+              0.7671060786165169
+            ],
+            "target_position": [
+              0.3564820495449863,
+              0.07620477267913282,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004838383921413615,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.173213327905986,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671060786165169,
+            "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": 0.0752564430521076,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08583110917957397,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14232108564058066,
+            "release_required_pad_clearance": 0.05291555458978699,
+            "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": 0.8613683159801666,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0d5efa1040a70258ba74f02cef634451511bbd5c8b9f4794b5837109969da8cc",
+    "visual_seed": 2864486143251496940,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_86_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a9a2c14e6926b3fedfc63c7d41761bc83dc010d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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": [
+    {
+      "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": [
+              0.26407207810965033,
+              0.2976898237291875,
+              1.0513744450741702
+            ],
+            "current_z": 1.0513744450741702,
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+            "initial_z": 0.76110680603799,
+            "lift_margin": 0.19026763903618027,
+            "gripper_z": 1.053558832482555,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2587462138149992,
+              0.292684177252724,
+              1.053558832482555
+            ],
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+              0.00532586429465115,
+              0.00500564647646351,
+              -0.0021843874083848913
+            ],
+            "object_to_gripper_xy": 0.007308989474090899,
+            "object_to_gripper_z": -0.0021843874083848913,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26407207810965033,
+              0.27311155182633723,
+              1.0513744450741702
+            ],
+            "finger_b": [
+              0.2519512153476819,
+              0.2976898237291875,
+              1.0513744450741702
+            ],
+            "finger_midpoint": [
+              0.2580116467286661,
+              0.2854006877777624,
+              1.0513744450741702
+            ],
+            "object_minus_finger_midpoint": [
+              0.006060431380984221,
+              0.012289135951425112,
+              0.0
+            ],
+            "finger_gap": 0.027404502619549815,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013702251309774883,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0513744450741702,
+            "object_top_z": 1.101946554877356,
+            "finger_top_clearance": 0.050572109803185716,
+            "fingertip_min_top_clearance": 0.015171632940955714,
+            "object_projection_between_fingers": 0.8043755114185301,
+            "object_to_finger_line_xy": 0.010870836256238773,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04817712496239336,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5521044859270252,
+            "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_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",
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+            },
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+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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": [
+              0.26404031233107084,
+              0.29619512673888926,
+              1.242421105429036
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+              0.3007439124217605,
+              1.2401194185165574
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+            "required_gripper_z": 0.8974145980897915,
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+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007630344388633824,
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+            "held_gripper_z_dist": 0.002301686912478562,
+            "max_held_gripper_z_dist": 0.0024611414274491317,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08749815555034579,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2697177185748926,
+              0.27517318765422977,
+              1.2401194185165574
+            ],
+            "held_grasp_finger_b": [
+              0.2595734453019441,
+              0.3007439124217605,
+              1.2401194185165574
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+              0.26464558193841836,
+              0.28795855003799514,
+              1.2401194185165574
+            ],
+            "held_grasp_object_position": [
+              0.2697177185748926,
+              0.3007439124217605,
+              1.2401194185165574
+            ],
+            "held_grasp_finger_gap": 0.02750942102940495,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02468136445539935,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07923263049109523,
+              -0.9966523101291256,
+              0.02015844685830437
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+            "held_grasp_object_to_finger_line_xy": 0.004051637539212221,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03657581038655917,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.36840183636135215,
+              0.08182798650111615,
+              0.7671070549024379
+            ],
+            "target_position": [
+              0.3639570720498312,
+              0.07814375265704934,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005773171468329843,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1769063781970342,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671070549024379,
+            "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": 0.07569914230199574,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0849929301821075,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1447506954029537,
+            "release_required_pad_clearance": 0.052496465091053754,
+            "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": 0.05551954989571519,
+            "object_max_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": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a5df92c4721222ca2ab610de2ccbf15e02fe1a4cafe24d4713861b137d150469",
+    "visual_seed": 6378832485414882104,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_87_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bdb9d21f67297940730a27f52d91a4e17ba836b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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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+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              0.2943514669094819,
+              1.0506711637370305
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+            "gripper_position": [
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+              0.2893751778062019,
+              1.0533639583459924
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+              0.004976289103279963,
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+            "object_to_gripper_z": -0.0026927946089618793,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2620114980772327,
+              0.26980607561669834,
+              1.0506711637370305
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+            "finger_b": [
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+              0.2943514669094819,
+              1.0506711637370305
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+            "finger_midpoint": [
+              0.2559769556448186,
+              0.2820787712630901,
+              1.0506711637370305
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+            "object_minus_finger_midpoint": [
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+              0.012272695646391774,
+              0.0
+            ],
+            "finger_gap": 0.027352130505506864,
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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": 0.8052998158560515,
+            "object_to_finger_line_xy": 0.01083061557100193,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05018650133913108,
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+            "object_tilt_deg": 1.9790176409921467,
+            "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": {
+            "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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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "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": [
+              0.26188149354571055,
+              0.2930624734285586,
+              1.243716599244172
+            ],
+            "held_position": [
+              0.26750183993861354,
+              0.29759983884873864,
+              1.2409436784848773
+            ],
+            "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": 0.007737251971455438,
+            "max_held_gripper_dist": 0.007753209035935901,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0027729207592948057,
+            "max_held_gripper_z_dist": 0.00292727065984133,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08787324786912787,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26750183993861354,
+              0.27208346525395755,
+              1.2409436784848773
+            ],
+            "held_grasp_finger_b": [
+              0.2572866452145206,
+              0.29759983884873864,
+              1.2409436784848773
+            ],
+            "held_grasp_midpoint": [
+              0.26239424257656707,
+              0.2848416520513481,
+              1.2409436784848773
+            ],
+            "held_grasp_object_position": [
+              0.26750183993861354,
+              0.29759983884873864,
+              1.2409436784848773
+            ],
+            "held_grasp_finger_gap": 0.02748518736846409,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02467647622796002,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07314755348563991,
+              -0.9963677885484004,
+              0.043596620995620235
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0041987806148128795,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03663479545366824,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3570984553873633,
+              0.07353116426788792,
+              0.7671048278783418
+            ],
+            "target_position": [
+              0.3557125459558754,
+              0.0712700353941274,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0026520649946863077,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17020288572985556,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671048278783418,
+            "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": 0.07583049200279168,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0850537299404147,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13767714601885225,
+            "release_required_pad_clearance": 0.05252686497020735,
+            "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": 0.1116070627454849,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 136,
+            "max_placed_release_frames": 136
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "651d005fca13aa1e37d6b7535316981e18302959ef854d80274ca9db6494f1c8",
+    "visual_seed": 1172531430201270719,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_88_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3394f5efd95002258e5dd39896d7cfde93a228fd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              0.29648313637063695,
+              1.052584963916158
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+            "lift_margin": 0.19147827708745768,
+            "gripper_z": 1.0548002996079946,
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+            "gripper_position": [
+              0.2594434354408428,
+              0.2914622798027143,
+              1.0548002996079946
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+              0.005348357794153713,
+              0.005020856567922671,
+              -0.0022153356918366285
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+            "object_to_gripper_xy": 0.0073357979640893195,
+            "object_to_gripper_z": -0.0022153356918366285,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2647917932349965,
+              0.27187962402112387,
+              1.052584963916158
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+            "finger_b": [
+              0.25266943113358165,
+              0.29648313637063695,
+              1.052584963916158
+            ],
+            "finger_midpoint": [
+              0.25873061218428905,
+              0.2841813801958804,
+              1.052584963916158
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+            "object_minus_finger_midpoint": [
+              0.006061181050707465,
+              0.01230175617475654,
+              0.0
+            ],
+            "finger_gap": 0.027427804922203713,
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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": 1.1030460096668042,
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+            "fingertip_min_top_clearance": 0.015138313725193841,
+            "object_projection_between_fingers": 0.8046594522845816,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048128519884359525,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4680121580465381,
+            "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",
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+                "Robotiq2F85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
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+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
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+                "fr3_rightfinger",
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+                "gripper",
+                "gripper_center",
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+                "joint3",
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+                "joint5",
+                "joint6",
+                "joint7",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "defaultgroundplane",
+                "desk",
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+                "link0",
+                "table",
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+              ],
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+            },
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+            "forbidden": [],
+            "disturbances": [],
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+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
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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": [
+              0.2647363286512916,
+              0.29538580765032435,
+              1.2444939746418504
+            ],
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+              0.2704295404843971,
+              0.2999655447039635,
+              1.242179534822177
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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": 0.007664416751193693,
+            "max_held_gripper_dist": 0.007677801589363319,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002314439819673497,
+            "max_held_gripper_z_dist": 0.002474520398607183,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08788119667208316,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2704295404843971,
+              0.2744095848909071,
+              1.242179534822177
+            ],
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+              0.2601765271404537,
+              0.2999655447039635,
+              1.242179534822177
+            ],
+            "held_grasp_midpoint": [
+              0.26530303381242537,
+              0.28718756479743535,
+              1.242179534822177
+            ],
+            "held_grasp_object_position": [
+              0.2704295404843971,
+              0.2999655447039635,
+              1.242179534822177
+            ],
+            "held_grasp_finger_gap": 0.027536001245599115,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024735175206734596,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07301425810148976,
+              -0.9971760620913073,
+              0.01757325541732624
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004186053023875966,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03660404630411506,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.36826334594686555,
+              0.0788922667329301,
+              0.7671060029922983
+            ],
+            "target_position": [
+              0.3641738853816416,
+              0.07520000181928195,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005509674029112709,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17431592262864387,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671060029922983,
+            "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": 0.07571465982569615,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08498325686667817,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14220864024499982,
+            "release_required_pad_clearance": 0.052491628433339085,
+            "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": 0.05595075619330447,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "62644dcb606706f7886a0da03905255a2342a252eb2ee27d1dc04ff53f6d331d",
+    "visual_seed": 8965615746190678025,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_89_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..53a3ceb64a6d63c45c9f7441a2dcac57efe6c5b1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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": [
+    {
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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,
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+              0.29615310662597244,
+              1.0514844106581434
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+            "lift_margin": 0.1903776642247983,
+            "gripper_z": 1.0540983603666632,
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+            "gripper_position": [
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+              0.29111511036884785,
+              1.0540983603666632
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+              0.0053329732361845905,
+              0.005037996257124588,
+              -0.0026139497085198027
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+            "object_to_gripper_xy": 0.007336348534840919,
+            "object_to_gripper_z": -0.0026139497085198027,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2578428820892393,
+              0.2715872669618291,
+              1.0514844106581434
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+            "finger_b": [
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+              0.29615310662597244,
+              1.0514844106581434
+            ],
+            "finger_midpoint": [
+              0.2517528763051058,
+              0.28387018679390075,
+              1.0514844106581434
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+            "object_minus_finger_midpoint": [
+              0.00609000578413349,
+              0.012282919832071693,
+              0.0
+            ],
+            "finger_gap": 0.027419576222245213,
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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,
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+                "dummy_base_revolute_z_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",
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+                "joint4",
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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",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "desk",
+                "floor",
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+                "table",
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+            },
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+            "last_frame": {
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
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+        "skill": "pick",
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+        "attach_object_path": null,
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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": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25762154689097505,
+              0.2948656169832289,
+              1.2427670037282261
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+              0.29944901606717184,
+              1.2400419913251812
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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": 0.007791687534622264,
+            "max_held_gripper_dist": 0.007806576155991905,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002725012403044902,
+            "max_held_gripper_z_dist": 0.0028795677861961355,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08785299196611895,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26330284558737804,
+              0.27390631060277054,
+              1.2400419913251812
+            ],
+            "held_grasp_finger_b": [
+              0.253058596510093,
+              0.29944901606717184,
+              1.2400419913251812
+            ],
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+              0.2581807210487355,
+              0.2866776633349712,
+              1.2400419913251812
+            ],
+            "held_grasp_object_position": [
+              0.26330284558737804,
+              0.29944901606717184,
+              1.2400419913251812
+            ],
+            "held_grasp_finger_gap": 0.027520436798833904,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024658687289641365,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07822826871533117,
+              -0.9967650918861962,
+              0.018430669301603753
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004114297968402455,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03658951655566974,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.36706489968224837,
+              0.07349852603533906,
+              0.7671056558109042
+            ],
+            "target_position": [
+              0.3630865312512866,
+              0.06980862709004175,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0054261192024299895,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17538282205891098,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671056558109042,
+            "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": 0.0751350889262394,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08670144129081057,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14468178393167475,
+            "release_required_pad_clearance": 0.05335072064540529,
+            "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": 1.7164116053760203,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4af414ba72dd9d5edbd7fb0eabffa43fef4d280c43b45f07b3542b340c0674fb",
+    "visual_seed": 4837153898375692802,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_90_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..adbd02bdc0520f4c6faf19478670f0d04fc8b05b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_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": [
+              0.26159533491534814,
+              0.2944875665441417,
+              1.0500603599233354
+            ],
+            "current_z": 1.0500603599233354,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.18895385190856917,
+            "gripper_z": 1.0524263543165302,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25659772451846663,
+              0.28961248324243793,
+              1.0524263543165302
+            ],
+            "object_minus_gripper": [
+              0.004997610396881513,
+              0.004875083301703775,
+              -0.002365994393194848
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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",
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+                "gripper",
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+                "joint1",
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+                "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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+            "last_frame": {
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
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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": [
+              0.2619857277162805,
+              0.2929736798232283,
+              1.239842498592113
+            ],
+            "held_position": [
+              0.2673575240322139,
+              0.29736396293596395,
+              1.2373301046179082
+            ],
+            "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": 0.007378543552183507,
+            "max_held_gripper_dist": 0.00739294779787334,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002512393974204885,
+            "max_held_gripper_z_dist": 0.0026605564333939125,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08704648044608948,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2673575240322139,
+              0.271890220389319,
+              1.2373301046179082
+            ],
+            "held_grasp_finger_b": [
+              0.2576799548186057,
+              0.29736396293596395,
+              1.2373301046179082
+            ],
+            "held_grasp_midpoint": [
+              0.2625187394254098,
+              0.28462709166264144,
+              1.2373301046179082
+            ],
+            "held_grasp_object_position": [
+              0.2673575240322139,
+              0.29736396293596395,
+              1.2373301046179082
+            ],
+            "held_grasp_finger_gap": 0.02725008082954851,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024447296763708604,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09300698440064387,
+              -0.9950394311389943,
+              0.0353020018028013
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003661890158670345,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03659652015935455,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.357766356234018,
+              0.07569490868953921,
+              0.7671078004245546
+            ],
+            "target_position": [
+              0.355139097796089,
+              0.07269204837168726,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003989944484350502,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1720767314425576,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671078004245546,
+            "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": 0.07566942050698987,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08587448196993695,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14003751253089697,
+            "release_required_pad_clearance": 0.05293724098496848,
+            "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": 0.9056699488311524,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 138,
+            "max_placed_release_frames": 138
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e959f238ed6a25ad7813031bac6cbeb8ef499cc2b29fdaad3b7a3e427ec68048",
+    "visual_seed": 1716640822689373144,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_91_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3aee9b6a0ca1d36bbf0d556f563b8440c4f98b13
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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",
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+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_92_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c572db59f016865c3c154723fb24afae5428dd68
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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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+            "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": {},
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+              "allowed_objects": [
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+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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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+        "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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+            "virtual_attach_allowed": false,
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+              0.29845624101169516,
+              1.2412793780320168
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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_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_a",
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+                "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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+            "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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+            "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": 138,
+            "max_placed_release_frames": 138
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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"
+              ],
+              "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"
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
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+                "floor",
+                "ground",
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+              "enabled": true
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+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 92,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8f1468c7ec2086ae9eb54a7ebf3d7bcd5fc8c1ae27303235bd9f604579cc0867",
+    "visual_seed": 5303939916703736730,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_93_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ad93e88c10abde556205a8b31a5275ddc322e34
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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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+              0.2936952864201671,
+              1.0514020985888646
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+              0.28868320196661784,
+              1.0536531109258664
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+              0.0050120844535492814,
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+              0.26911378920518686,
+              1.0514020985888646
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+              1.0514020985888646
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+              0.281404537812677,
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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": 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_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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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+              0.29242491873463483,
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+              0.2969840608834688,
+              1.239140658642142
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007654549353014379,
+            "max_held_gripper_dist": 0.007667072660159808,
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+            "max_held_gripper_z_dist": 0.0025455070230395727,
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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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+              0.2969840608834688,
+              1.239140658642142
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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_to_finger_line_xy": 0.004001643081042007,
+            "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_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": [],
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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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+            "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_required_pad_clearance": 0.052978280381696705,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9843506175596781,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f0b781ae8a088ce3eed4605591f300c507cd5d56fbc954e353c37c07018e756e",
+    "visual_seed": 5386151747351287686,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_95_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc55cc326fd6fb813c3314e88572a0bab8464821
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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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+              0.2926054597902013,
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+              0.2678709151889725,
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+              0.2802381874895869,
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+              0.0,
+              1.0
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+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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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": [],
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+              "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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+            "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_geometry_checked": true,
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+            "held_grasp_source": "active_contact_pad_positions",
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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_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": [],
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+                  "b": "/World/beaker_2/mesh"
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+            "failed_keys": []
+          }
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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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+            "release_required_pad_clearance": 0.05295305585113112,
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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": 0.9218552304786966,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 137,
+            "max_placed_release_frames": 137
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "99936c1d9699b00a1e914d7c4ba52c38721e0376c6ff10a2074d82b3e2dae1bf",
+    "visual_seed": 226146658806673282,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_96_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d8b852751610e9a246438b76339bd444abbbd5f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
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+      "reason": "executed",
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+              0.2967211668983289,
+              1.0528511027200576
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+            "lift_margin": 0.19174447549600193,
+            "gripper_z": 1.055564312709351,
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+              0.2918438814207612,
+              1.055564312709351
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+              0.004877285477567717,
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+              0.2719602932505492,
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+              0.28434073007443905,
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+              0.01238043682388984,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04910741172448291,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "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,
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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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+          }
+        },
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+      },
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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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+              0.2959519904973106,
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+              0.3004869433883262,
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+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00771296987765552,
+            "max_held_gripper_dist": 0.007728863465602419,
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+            "held_gripper_z_dist": 0.0028310928049926076,
+            "max_held_gripper_z_dist": 0.0029844898356117255,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.086556947074997,
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+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
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+              0.2877666432919003,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02481894044072634,
+            "held_grasp_world_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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+              0.028261660175963765
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+            "held_grasp_object_to_finger_line_xy": 0.004388440854245682,
+            "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": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "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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+            },
+            "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": {
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+          "metrics": {
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+            "force_virtual_attach": false,
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+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8127403592857538,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "91f4b3d673df3e36b3b13f4ffe88a7cec97f41cef7e35a5e59dada099d7a040e",
+    "visual_seed": 7894819993036841856,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_97_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1eef00eab21abb9c280b4dc0d66897d8d8c2bab5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+              1.0520644443928382
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+              0.29420143175840285,
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+              0.005070215339815554,
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+              0.27486525755805075,
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+              0.2870684523281346,
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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": {
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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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+              ],
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+          }
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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",
+      "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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+              0.29792129662823974,
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+            "held_shake_count": 5,
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+            "max_held_gripper_z_dist": 0.0027161163171007807,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08800734217838549,
+            "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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+              0.30247655336988727,
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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": 0.02446324103207205,
+            "held_grasp_world_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": 0.0037733210621340284,
+            "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_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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+                  "b": "/World/beaker_2/mesh"
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+                {
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+                  "b": "/World/beaker_2/mesh"
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+              "failed_keys": []
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+            "failed_keys": []
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+      "physical_semantics": {
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+    {
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+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "passed": true,
+          "metrics": {
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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": 0.07542759215549502,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08693451790622474,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14304827178624094,
+            "release_required_pad_clearance": 0.05346725895311237,
+            "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": 1.947152418488348,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "20949b3d05c487be5c49c7d26485eba560ff7876527435196461f34767fd75f2",
+    "visual_seed": 2411530353551241150,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_98_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ded0fe968a96b62036acccd42d69e71182a9cf7c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
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+          "metrics": {
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+              0.29788816751773295,
+              1.0503150147874583
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+            "gripper_position": [
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+              0.2928317798672354,
+              1.0524908746305974
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+              0.00505638765049754,
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+              0.2733689397142086,
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+              1.0503150147874583
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+              0.2856285536159708,
+              1.0503150147874583
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+            "fingertip_z_max_dist": 0.1,
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+              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_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"
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+              ],
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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",
+      "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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+              0.2962409501472284,
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+            "held_shake_count": 5,
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+            "max_held_gripper_z_dist": 0.0024438207903259013,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08812042226832256,
+            "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",
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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": 0.0039011151917126372,
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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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+                  "b": "/World/beaker_2/mesh"
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+            },
+            "failed_keys": []
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+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+    },
+    {
+      "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": [
+              0.3618195270440667,
+              0.07408777275507483,
+              0.7671060046468925
+            ],
+            "target_position": [
+              0.3576119154815635,
+              0.07041438012474038,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005585499841330778,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1768132540506447,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671060046468925,
+            "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": 0.07551863587519603,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08602007062584043,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14506026656780113,
+            "release_required_pad_clearance": 0.053010035312920215,
+            "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": 1.046029374711138,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "workflow_spec_digest": "d967ba9cf7c27e0887476bbda33def0360b45675bf0d2263c99c5cb7a4091e1a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "827a0bd80cfbccc4dce6c4ea9001318e89bd9ff44c98d528c79b877df8d30f4c",
+    "visual_seed": 3803857096955664757,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317
+    ],
+    "runtime_workflow_digest": "7ea844df24bbf22ca8d3767bb9f12d08293029071a8bd3dc44d2e976eaf26c70"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_9_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..470f20a4ffc05f76a78e05b3bd72ea312601589f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00005/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_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": [
+              0.26661783411891304,
+              0.3023152457607402,
+              1.0512915981046398
+            ],
+            "current_z": 1.0512915981046398,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.19018503048522895,
+            "gripper_z": 1.0534813177385207,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26105505206970714,
+              0.29706463210899753,
+              1.0534813177385207
+            ],
+            "object_minus_gripper": [
+              0.0055627820492059055,
+              0.005250613651742675,
+              -0.0021897196338809266
+            ],
+            "object_to_gripper_xy": 0.007649410947702705,
+            "object_to_gripper_z": -0.0021897196338809266,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26661783411891304,
+              0.2777269518053761,
+              1.0512915981046398
+            ],
+            "finger_b": [
+              0.25394692199781205,
+              0.3023152457607402,
+              1.0512915981046398
+            ],
+            "finger_midpoint": [
+              0.2602823780583625,
+              0.29002109878305815,
+              1.0512915981046398
+            ],
+            "object_minus_finger_midpoint": [
+              0.006335456060550526,
+              0.012294146977682052,
+              0.0
+            ],
+            "finger_gap": 0.027661095669117286,
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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": 1.1011160459102711,
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+            "fingertip_min_top_clearance": 0.014947334341689399,
+            "object_projection_between_fingers": 0.7901654488134995,
+            "object_to_finger_line_xy": 0.011263332286004088,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04751351575930765,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.13398259091475853,
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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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_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": [
+              0.26653084363592916,
+              0.3005374663381132,
+              1.2428159646456138
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+            "held_position": [
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+              0.30523278815347415,
+              1.2405250043015936
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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": 0.007960918750455272,
+            "max_held_gripper_dist": 0.007973513329778024,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0022909603440202098,
+            "max_held_gripper_z_dist": 0.0024621021437278845,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08813764280645564,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27253764653794554,
+              0.27946118032663975,
+              1.2405250043015936
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+              0.30523278815347415,
+              1.2405250043015936
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+            "held_grasp_midpoint": [
+              0.26732348835503206,
+              0.29234698424005695,
+              1.2405250043015936
+            ],
+            "held_grasp_object_position": [
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+              0.30523278815347415,
+              1.2405250043015936
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+            "held_grasp_finger_gap": 0.0278015386661589,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024693349720398865,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09259396691379171,
+              -0.9956285643236314,
+              0.012252313823616356
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004001843064843028,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03640797602935169,
+            "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": [],
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+}
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diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/dataset/meta/randomization_episodes.jsonl b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..802d562e136d5b1a986e3fe5921c45f129a8c9f9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/dataset/meta/randomization_episodes.jsonl
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diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ebfaa84ba6a95773002f58f50e4e179ce447d556
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/resolved_config.yaml
@@ -0,0 +1,231 @@
+name: fast_2beaker_dual_target_s03_psl_knn_00006
+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.
+  layout_id: layout_00006
+  reproducibility:
+    enabled: true
+    layout_id: layout_00006
+    action_seed: 613915801507398911
+    step_seeds:
+    - 103325174323403004
+    - 3963008736894911500
+    - 627831696969887324
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.1693
+      - 0.1693
+      'y':
+      - 0.2301
+      - 0.2301
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2036
+      - 0.2036
+      'y':
+      - -0.0458
+      - -0.0458
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.328
+      - 0.328
+      'y':
+      - 0.1758
+      - 0.1758
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2002
+      - 0.2002
+      'y':
+      - -0.3741
+      - -0.3741
+      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_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
+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_knn_00006
+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_knn_00006/results/episode_101_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..91c3f29d7024b85dcbca68f1bdc761d8878fb77d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/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_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,
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+              1.0480769136758687
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+            "virtual_attach_allowed": false,
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+              0.2314771422473691,
+              1.0536532347248355
+            ],
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+              0.004673409453083033,
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+              0.21214032270966832,
+              1.0480769136758687
+            ],
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+            ],
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+              0.22414543720506022,
+              1.0480769136758687
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1387044462406892,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              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": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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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+              0.2364613091965238,
+              1.2407320742746437
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+              0.24071249852320403,
+              1.2349991890707788
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+            "object_initial_z": 0.7774145980897915,
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+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00861498153264337,
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+            "max_held_gripper_z_dist": 0.005784255513042291,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08645408866676171,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
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+              0.22824250238089028,
+              1.2349991890707788
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+              0.24071249852320403,
+              1.2349991890707788
+            ],
+            "held_grasp_finger_gap": 0.026744836141174604,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02434812135681092,
+            "held_grasp_world_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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+              -0.9981390295920533,
+              0.022999856037802524
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004127396393598803,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037000731051489155,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3238952909303463,
+              0.1753026175593188,
+              0.7671047439201651
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+              0.17489549066161844,
+              0.7158860691194898
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+            "xy_dist": 0.006741963162957745,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16768074917587839,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671047439201651,
+            "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": 0.07519515641435628,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08868894911112545,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13651606875113867,
+            "release_required_pad_clearance": 0.054344474555562725,
+            "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": 3.700033322146971,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a2940b07937a7a26705d41312a45fe6bfb700c32acddc354c442cc9bcd8f814c",
+    "visual_seed": 8254370322049528911,
+    "episode_index": 101,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_102_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_102_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..36a92b5161666d527738af7bf57aac9dc442e25b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/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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+              1.0479165254923406
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+              0.2251112126220893,
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+              0.20575753230213625,
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+              0.22994206637653833,
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+              0.2178497993393373,
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+              0.012092267037201038,
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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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+              "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": [],
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+                  "b": "/World/beaker_2/mesh"
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+          }
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "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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+              0.23032352065120132,
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+              0.2347189996891439,
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+            "held_shake_count": 5,
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+            "max_held_gripper_z_dist": 0.005598454581296597,
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+              1.2364892885730683
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+              0.22218776751742703,
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+              0.2347189996891439,
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "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": 0.004269800034472445,
+            "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": [],
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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",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+            "release_fingertip_min_gap": 0.08905432684030327,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13377383764830464,
+            "release_required_pad_clearance": 0.05452716342015164,
+            "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": 4.077292741514844,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "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",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e04bf42fc091c6446b947866ca52525d32e179dfaf3aaf4e48ed91bb1053097f",
+    "visual_seed": 5560637422370831131,
+    "episode_index": 102,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_103_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_103_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..71008a3ba1180324269679917aa54bb44ace0871
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
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+          "metrics": {
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+              0.2316121070654089,
+              1.046202477557503
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+            "gripper_z": 1.0521266952121473,
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+            "gripper_position": [
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+              0.22733031037134616,
+              1.0521266952121473
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+              0.004281796694062756,
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+            "object_to_gripper_z": -0.005924217654644348,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.20751547336080253,
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+            "finger_b": [
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+              0.2316121070654089,
+              1.046202477557503
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+            "finger_midpoint": [
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+              0.21956379021310574,
+              1.046202477557503
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+              0.012048316852303176,
+              0.0
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+            "finger_gap": 0.026348269316554977,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_projection_between_fingers": 0.8363894846835216,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050772436988099634,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.3078253497562966,
+            "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,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
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+              ],
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+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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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+              0.2327568366713038,
+              1.2395552043905362
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+              0.23676841339602406,
+              1.2334986193777748
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008450582509546327,
+            "max_held_gripper_dist": 0.008463976216346404,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006056585012761406,
+            "max_held_gripper_z_dist": 0.006096380390390399,
+            "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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+              0.21214604628725262,
+              1.2334986193777748
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+              0.22445722984163835,
+              1.2334986193777748
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+            "held_grasp_object_position": [
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+              0.23676841339602406,
+              1.2334986193777748
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+            "held_grasp_finger_gap": 0.02631848350994696,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024410339809126772,
+            "held_grasp_world_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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+              -0.9989192758918355,
+              0.04198066063829431
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004431590227811903,
+            "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",
+                "defaultgroundplane",
+                "desk",
+                "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": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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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_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": 0.13415216213762512,
+            "release_required_pad_clearance": 0.054635197450813175,
+            "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": 4.300438765696252,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 138,
+            "max_placed_release_frames": 138
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d19bd2e6dab5e013a605deeab0ff090c770bccf033bab922af73a22afe6b0c9d",
+    "visual_seed": 1627889327077202566,
+    "episode_index": 103,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_104_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_104_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..89e24ade3d4ef8f0383ecc35edb70f46bc318550
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/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": [
+    {
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+              0.22415101065515364,
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+              0.2167947990225093,
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+            "stable_success_frames": 212,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+    },
+    {
+      "step_index": 1,
+      "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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+            "max_held_gripper_z_dist": 0.005962539277449386,
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+            "held_grasp_geometry_required": true,
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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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+              "held_object": "beaker_a",
+              "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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+              "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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+    {
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+      "skill": "place",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+            "object_z": 0.7671047645813716,
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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": 0.07551242132758641,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08641685984839996,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13385433225377533,
+            "release_required_pad_clearance": 0.05320842992419998,
+            "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": 1.4292604701779468,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 138,
+            "max_placed_release_frames": 138
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "371de38a62a928fa22b456279a50228d4452bd1f0f5e37e770c78dc4e1e2e722",
+    "visual_seed": 1384268193904585300,
+    "episode_index": 104,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_105_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_105_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..323f310450b19c3c50454729f0fc8fa7f161461a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/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": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
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+          "metrics": {
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+              0.23368727783910564,
+              1.0479416878063241
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+            "current_z": 1.0479416878063241,
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+            "gripper_z": 1.0536216445309952,
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+            "gripper_position": [
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+              0.2289537581205736,
+              1.0536216445309952
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+              0.004733519718532031,
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+            "object_to_gripper_z": -0.005679956724671031,
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+              0.20927502057481462,
+              1.0479416878063241
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+              0.23368727783910564,
+              1.0479416878063241
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+              0.22148114920696013,
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+              0.012206128632145513,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.010435675091171631,
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+            "fingertip_z_max_dist": 0.1,
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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": {
+            "policy": {
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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/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
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+            },
+            "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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+              0.23435650318821205,
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+              0.23875097877127205,
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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": 0.008887442315848934,
+            "max_held_gripper_dist": 0.008903229258940616,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005830031348746045,
+            "max_held_gripper_z_dist": 0.005877360417876343,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08522634295508888,
+            "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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+              1.234645349552307
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+              0.22624566062423548,
+              1.234645349552307
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+            "held_grasp_object_position": [
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+              0.23875097877127205,
+              1.234645349552307
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+            "held_grasp_finger_gap": 0.026947478719414903,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02472296794403875,
+            "held_grasp_world_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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+              -0.9993944224813207,
+              0.021743672581204687
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0046822573115873215,
+            "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/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "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": [
+              0.3253736505322611,
+              0.17346236577475463,
+              0.7671051424689667
+            ],
+            "target_position": [
+              0.3318226378615341,
+              0.17252584219993677,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006516633638567808,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16708116527264882,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671051424689667,
+            "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": 0.07574875131363366,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08615398953638508,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1346444818658027,
+            "release_required_pad_clearance": 0.05307699476819254,
+            "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": 1.1756728383351576,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 138,
+            "max_placed_release_frames": 138
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4496ab2541c4fd411afae3e5c22d43a67016707c8fa28dff8e743135de054a31",
+    "visual_seed": 7104197329392532240,
+    "episode_index": 105,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_109_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_109_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3af79dbee8afaaa1aced3d1c96b72e7dff55eead
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/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": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.19474985858842753,
+              0.23407369066052733,
+              1.0493504912874052
+            ],
+            "current_z": 1.0493504912874052,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.18824392366799447,
+            "gripper_z": 1.0553993360485858,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19083107200571434,
+              0.22986787827738514,
+              1.0553993360485858
+            ],
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+              0.003918786582713191,
+              0.004205812383142188,
+              -0.006048844761180616
+            ],
+            "object_to_gripper_xy": 0.005748542953048633,
+            "object_to_gripper_z": -0.006048844761180616,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.19474985858842753,
+              0.21026882336120425,
+              1.0493504912874052
+            ],
+            "finger_b": [
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+              0.23407369066052733,
+              1.0493504912874052
+            ],
+            "finger_midpoint": [
+              0.18941901557809254,
+              0.2221712570108658,
+              1.0493504912874052
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011902433649661537,
+              0.0
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+            "finger_gap": 0.026083390422675712,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.00973033094227103,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05565855815501476,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 5.58544149669461,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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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": 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": [
+              0.19442496764510894,
+              0.23577340130841484,
+              1.2427911731374772
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+            "held_position": [
+              0.19847807264658515,
+              0.2397218964446385,
+              1.2366305617398257
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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": 0.008364891319476167,
+            "max_held_gripper_dist": 0.008381146327742197,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006160611397651561,
+            "max_held_gripper_z_dist": 0.006206677840761676,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08579534232286021,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19847807264658515,
+              0.2153015160334515,
+              1.2366305617398257
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+              0.2397218964446385,
+              1.2366305617398257
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+            "held_grasp_midpoint": [
+              0.19384341272311506,
+              0.227511706239045,
+              1.2366305617398257
+            ],
+            "held_grasp_object_position": [
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+              0.2397218964446385,
+              1.2366305617398257
+            ],
+            "held_grasp_finger_gap": 0.02612039949640827,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024268667627755407,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0038548894067738926,
+              -0.9952506644617005,
+              0.09726898126435501
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004739020005297021,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03755018405333139,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.306950105998097,
+              0.1703834714073308,
+              0.767106229297452
+            ],
+            "target_position": [
+              0.323176431818878,
+              0.17515697557711124,
+              0.7158860691194898
+            ],
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+            "xy_dist": 0.016913899364163636,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.15975530196731597,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.767106229297452,
+            "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": 0.07573421998985468,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08817923114036001,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.12632377852969512,
+            "release_required_pad_clearance": 0.05408961557018001,
+            "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": 3.192362614006167,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 134,
+            "max_placed_release_frames": 134
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d16a4dd236737795779f1297377fe34b31da97235475944d31552f3f0165816f",
+    "visual_seed": 180776648558840985,
+    "episode_index": 109,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_10_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5093e052e2523a1d9101397d8c27cb3917002e9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/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_a",
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+          "skill": "pick",
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+              0.23184195235118948,
+              1.047604597658386
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+              0.004621289528572714,
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+              0.20766650800604755,
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+              0.2197542301786185,
+              1.047604597658386
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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,
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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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+              "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": [],
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+                },
+                {
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+                  "b": "/World/beaker_2/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_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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+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
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+            "held_gripper_dist": 0.008563220088025797,
+            "max_held_gripper_dist": 0.008578608448004737,
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+            "max_held_gripper_z_dist": 0.005707925544778059,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08672228702811169,
+            "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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+              0.21187120566187623,
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+              0.22432427558347895,
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+            "held_grasp_object_position": [
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+              0.23677734550508167,
+              1.234305770616738
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+            "held_grasp_finger_gap": 0.02673199041946293,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02444536070326269,
+            "held_grasp_world_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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+              -0.9988304331774782,
+              0.019015320359412446
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00430322643482723,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03706591997335867,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3179185095998228,
+              0.1773410443226471,
+              0.7671042195204879
+            ],
+            "target_position": [
+              0.3238729055643145,
+              0.17647362384524895,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006017246013465308,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1658254053019078,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671042195204879,
+            "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": 0.07558585997796685,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0870573878410582,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13373569974309468,
+            "release_required_pad_clearance": 0.0535286939205291,
+            "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": 2.0585206694191887,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 138,
+            "max_placed_release_frames": 138
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8d9be3f29ce9d1f0aa0fe0208fe673847298a07680e505ea61dc2c60ce3f57fd",
+    "visual_seed": 8325002003316597494,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_110_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_110_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6b95e17cfdb4ead502a630f73a62fb93ffe8d69
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/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_a",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_a",
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+              0.1993669536330238,
+              0.23607486421921353,
+              1.0476690037584566
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+            "gripper_position": [
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+              0.2312393023360683,
+              1.0528740176255211
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+              0.00483556188314524,
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+              0.2117933226360059,
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+              1.0476690037584566
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+              0.22393409342760973,
+              1.0476690037584566
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+              0.012140770791603805,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.010669518098692115,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04780821191355343,
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+              0.0,
+              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_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"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+        "target": "beaker_a",
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+        "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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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008658853687842152,
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+            "held_gripper_max_dist": 0.15,
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+            "max_held_gripper_z_dist": 0.00541557016226224,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08650564025411414,
+            "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",
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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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+              -0.9983747070997963,
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004340280891019422,
+            "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": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.32345509800634775,
+              0.1800553653047457,
+              0.7671044700332532
+            ],
+            "target_position": [
+              0.3299769837959442,
+              0.17948836875479823,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006546486029939453,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1654257495809447,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671044700332532,
+            "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": 0.07550771440421575,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0878530034663688,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.133575616511407,
+            "release_required_pad_clearance": 0.053926501733184404,
+            "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": 2.8525669009102694,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 137,
+            "max_placed_release_frames": 137
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7ee23afca449635e66728fd2458d217ad6a435cab7872d189446c6e2515c0cee",
+    "visual_seed": 2274023644140672643,
+    "episode_index": 110,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_112_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_112_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..93c0d1f9f6f0568499dde29065d397ddb118f7eb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/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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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              0.19367179666139955,
+              0.2377821788962255,
+              1.0229871078595303
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+              0.23328250017638014,
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+              0.004499678719845357,
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+              0.21330962692160255,
+              1.0417710550475547
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+              1.0418303816194825
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+              0.22554590290891402,
+              1.0418007183335187
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+            "object_projection_between_fingers": 0.8314360688174877,
+            "object_to_finger_line_xy": 0.01004758259888402,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 187,
+            "max_stable_success_frames": 187,
+            "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": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object": null,
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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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+              0.23795525782485313,
+              1.2176272025904997
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+            "held_position": [
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+              0.24171200223952372,
+              1.1844628029683424
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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": 0.03365680939303421,
+            "max_held_gripper_dist": 0.033678343534921634,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.03316439962215734,
+            "max_held_gripper_z_dist": 0.033210876601265094,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08653728686312373,
+            "held_object_min_xy_range": 0.04,
+            "held_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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+              0.21730146685392865,
+              1.2041829405062683
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+              0.24171200223952372,
+              1.203651081637094
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+            "held_grasp_midpoint": [
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+              0.22950673454672618,
+              1.203917011071681
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+            "held_grasp_object_position": [
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+              0.24171200223952372,
+              1.1844628029683424
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+            "held_grasp_finger_gap": 0.026124952029756506,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024875065476710097,
+            "held_grasp_world_z_skew": 0.0005318588691742843,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.05480924470751641,
+              -0.9969568965048059,
+              0.05543368295627825
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.019499611831738813,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03672837135627492,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3169864813421277,
+              0.17596686821296587,
+              0.767105144703707
+            ],
+            "target_position": [
+              0.33121532887295363,
+              0.1797619414123082,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.014726258270309451,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.15953372121575354,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.767105144703707,
+            "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": 0.07574234163303499,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08773907458244505,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1262928403865571,
+            "release_required_pad_clearance": 0.05386953729122253,
+            "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": 2.743753880683849,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 130,
+            "max_placed_release_frames": 130
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b70ede818a80cd80e69c63ccb4fe0dd9fb56ceeb84dd584ea896564109f9da35",
+    "visual_seed": 6530091559954620981,
+    "episode_index": 112,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_113_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_113_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..059f274855986c011c9c776ee3233049b7de207e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_113_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 113,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.1943418462686685,
+              0.23686062052071516,
+              1.0488507361314456
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+            "gripper_z": 1.0543277298973346,
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+            "gripper_position": [
+              0.18985724471703536,
+              0.23233793482193976,
+              1.0543277298973346
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+              0.004484601551633133,
+              0.004522685698775397,
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+            "object_to_gripper_z": -0.005476993765888949,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.1943418462686685,
+              0.21271829129382644,
+              1.0488507361314456
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+            "finger_b": [
+              0.18312853039679974,
+              0.23686062052071516,
+              1.0488507361314456
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+            "finger_midpoint": [
+              0.18873518833273412,
+              0.22478945590727079,
+              1.0488507361314456
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+            "object_minus_finger_midpoint": [
+              0.005606657935934373,
+              0.012071164613444374,
+              0.0
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+            "finger_gap": 0.026619363503693864,
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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": 0.010169873651043018,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04950327814242157,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4919935031569354,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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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+              0.23745189291014038,
+              1.2434598499091505
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+            "held_position": [
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+              0.2416403396506064,
+              1.2378660061196782
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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": 0.00841635813164495,
+            "max_held_gripper_dist": 0.0084315955396809,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005593843789472253,
+            "max_held_gripper_z_dist": 0.005643036648548261,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08514360928562961,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19854580541004155,
+              0.21680587389680084,
+              1.2378660061196782
+            ],
+            "held_grasp_finger_b": [
+              0.18889316454405783,
+              0.2416403396506064,
+              1.2378660061196782
+            ],
+            "held_grasp_midpoint": [
+              0.1937194849770497,
+              0.2292231067737036,
+              1.2378660061196782
+            ],
+            "held_grasp_object_position": [
+              0.19854580541004155,
+              0.2416403396506064,
+              1.2378660061196782
+            ],
+            "held_grasp_finger_gap": 0.02664440213186629,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02444237503749191,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0377509334127461,
+              -0.9988848355346434,
+              0.028354053773580024
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004368537928692075,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037134666348760205,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.32176948192464033,
+              0.17427017857402935,
+              0.767104290575154
+            ],
+            "target_position": [
+              0.3282176091344714,
+              0.17351807671472577,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006491841165719605,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1666037361520591,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.767104290575154,
+            "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": 0.07585724033408325,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08855184562876504,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13376393116688037,
+            "release_required_pad_clearance": 0.054275922814382524,
+            "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": 3.5613986696333724,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 138,
+            "max_placed_release_frames": 138
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cab28c8e030770c173758ae67ebfcd705bd45fe3fd09808c1757bf56c6ff3c66",
+    "visual_seed": 8046446074974720845,
+    "episode_index": 113,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_114_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_114_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fc2f128b8bea896588cdd65c9f1b696254b5362
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.19667409387284523,
+              0.23801665930696791,
+              1.0480114644781313
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+            "current_z": 1.0480114644781313,
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+            "gripper_z": 1.0535006123744823,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19206525485633894,
+              0.23344441185989862,
+              1.0535006123744823
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+              0.0046088390165063,
+              0.0045722474470693,
+              -0.005489147896351021
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+            "object_to_gripper_xy": 0.006492060058048022,
+            "object_to_gripper_z": -0.005489147896351021,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.19667409387284523,
+              0.21376691676958198,
+              1.0480114644781313
+            ],
+            "finger_b": [
+              0.18541136984666085,
+              0.23801665930696791,
+              1.0480114644781313
+            ],
+            "finger_midpoint": [
+              0.19104273185975304,
+              0.22589178803827495,
+              1.0480114644781313
+            ],
+            "object_minus_finger_midpoint": [
+              0.005631362013092195,
+              0.012124871268692966,
+              0.0
+            ],
+            "finger_gap": 0.026737594611697883,
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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": 1.1002044501331492,
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+            "object_projection_between_fingers": 0.8225638046908207,
+            "object_to_finger_line_xy": 0.010214761719257677,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05028930157463504,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.066703438985899,
+            "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": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "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": [
+              0.1961406189562222,
+              0.2383964092753923,
+              1.2417138412726847
+            ],
+            "held_position": [
+              0.20094659438663315,
+              0.24262369248222226,
+              1.2360886655162298
+            ],
+            "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": 0.008521145782080524,
+            "max_held_gripper_dist": 0.008534385071656719,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0056251757564549365,
+            "max_held_gripper_z_dist": 0.0056763436570594905,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08651452898379108,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20094659438663315,
+              0.21769835244505084,
+              1.2360886655162298
+            ],
+            "held_grasp_finger_b": [
+              0.1912768538558814,
+              0.24262369248222226,
+              1.2360886655162298
+            ],
+            "held_grasp_midpoint": [
+              0.19611172412125727,
+              0.23016102246363657,
+              1.2360886655162298
+            ],
+            "held_grasp_object_position": [
+              0.20094659438663315,
+              0.24262369248222226,
+              1.2360886655162298
+            ],
+            "held_grasp_finger_gap": 0.026735303587217485,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024580226706969993,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.032440174916812316,
+              -0.9987392245828226,
+              0.03830921992247882
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00445402110976234,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03711644864239229,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.32534067897546304,
+              0.17630694530007962,
+              0.767104433246848
+            ],
+            "target_position": [
+              0.33258537798804066,
+              0.17599287546959064,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007251503543491282,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1650772237909228,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.767104433246848,
+            "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": 0.07570307232729555,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08680615951882491,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13260308845351051,
+            "release_required_pad_clearance": 0.053403079759412456,
+            "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": 1.8100619714281034,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 135,
+            "max_placed_release_frames": 135
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "307f9ca9376793b1fcb4330fa710f9a504e7f6cad234c0ae269e430c88153dd5",
+    "visual_seed": 1025056953831857079,
+    "episode_index": 114,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_116_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_116_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4cb3c220db424154de67c18053adab832853b06
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/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": [
+    {
+      "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": [
+              0.1957054946154856,
+              0.23804630720202674,
+              1.0483774936708286
+            ],
+            "current_z": 1.0483774936708286,
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+            "lift_margin": 0.1872704492142594,
+            "gripper_z": 1.0540105613222543,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19106413665609084,
+              0.23334125419266205,
+              1.0540105613222543
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+              0.004641357959394743,
+              0.00470505300936469,
+              -0.005633067651425794
+            ],
+            "object_to_gripper_xy": 0.006609064043279401,
+            "object_to_gripper_z": -0.005633067651425794,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1957054946154856,
+              0.21397842662879873,
+              1.0483774936708286
+            ],
+            "finger_b": [
+              0.1839954330553845,
+              0.23804630720202674,
+              1.0483774936708286
+            ],
+            "finger_midpoint": [
+              0.18985046383543502,
+              0.22601236691541274,
+              1.0483774936708286
+            ],
+            "object_minus_finger_midpoint": [
+              0.005855030780050563,
+              0.012033940286614003,
+              0.0
+            ],
+            "finger_gap": 0.026765433249408152,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013382716624704083,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0483774936708286,
+            "object_top_z": 1.09959972269138,
+            "finger_top_clearance": 0.05122222902055151,
+            "fingertip_min_top_clearance": 0.01536666870616542,
+            "object_projection_between_fingers": 0.8085877179447785,
+            "object_to_finger_line_xy": 0.010529863668091137,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04923716903106849,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3149067064776567,
+            "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": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
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+        "skill": "pick",
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+        "attach_object": 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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+              0.23858624761087427,
+              1.24337444593729
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+              0.24289582575521326,
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+            "required_gripper_z": 0.8974145980897915,
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+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008695161513786959,
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+            "held_gripper_z_dist": 0.0057489208086471955,
+            "max_held_gripper_z_dist": 0.005803930557325199,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08640671704118305,
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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": [
+              0.19989983556790825,
+              0.21798322716395818,
+              1.2376255251286428
+            ],
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+              0.24289582575521326,
+              1.2376255251286428
+            ],
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+              0.2304395264595857,
+              1.2376255251286428
+            ],
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+              0.19989983556790825,
+              0.24289582575521326,
+              1.2376255251286428
+            ],
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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": 0.024367395109256056,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.050668839786867946,
+              -0.9983316299674536,
+              0.02768799886557483
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+            "held_grasp_object_to_finger_line_xy": 0.004346372113888162,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03703291246639052,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.32364874333606475,
+              0.173834599193984,
+              0.7671053192400307
+            ],
+            "target_position": [
+              0.3297950132081926,
+              0.17290558295544645,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006216084339235833,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16759902679457053,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671053192400307,
+            "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": 0.07569149575506108,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08850287846640502,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13524078202115472,
+            "release_required_pad_clearance": 0.05425143923320251,
+            "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": 3.5149402884253034,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0f5d409effcd856461f540bb4b53f19aafd1225c42cd4ce96943e8854756d19d",
+    "visual_seed": 7861818807623318163,
+    "episode_index": 116,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_117_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_117_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1c570785b015479b064f8d37e7e3954774dbfc2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/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": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "object_position": [
+              0.19939241556811677,
+              0.23199944156993782,
+              1.0485081937024603
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+            "current_z": 1.0485081937024603,
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+            "lift_margin": 0.1874010300366018,
+            "gripper_z": 1.0540575614964451,
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+            "gripper_position": [
+              0.1945396067713916,
+              0.22723917838692193,
+              1.0540575614964451
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+              0.004852808796725172,
+              0.004760263183015895,
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+            "object_to_gripper_z": -0.00554936779398485,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.19939241556811677,
+              0.20776849379972115,
+              1.0485081937024603
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+            "finger_b": [
+              0.1876111995521062,
+              0.23199944156993782,
+              1.0485081937024603
+            ],
+            "finger_midpoint": [
+              0.19350180756011148,
+              0.21988396768482948,
+              1.0485081937024603
+            ],
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+              0.0058906080080052825,
+              0.012115473885108335,
+              0.0
+            ],
+            "finger_gap": 0.026943197298369623,
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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": 1.0993883163821394,
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+            "object_projection_between_fingers": 0.8088026029379768,
+            "object_to_finger_line_xy": 0.010595254408461265,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04886279922690223,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0211324352151154,
+            "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",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "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": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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": [
+              0.1986581822202524,
+              0.2323660388020095,
+              1.2431151579660047
+            ],
+            "held_position": [
+              0.20376028520246875,
+              0.2367156075802911,
+              1.2374318574013117
+            ],
+            "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": 0.008789204099734113,
+            "max_held_gripper_dist": 0.00880336857318862,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005683300564693017,
+            "max_held_gripper_z_dist": 0.0057342449183568345,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08662717090555616,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20376028520246875,
+              0.2116851444785134,
+              1.2374318574013117
+            ],
+            "held_grasp_finger_b": [
+              0.19375956282025764,
+              0.2367156075802911,
+              1.2374318574013117
+            ],
+            "held_grasp_midpoint": [
+              0.1987599240113632,
+              0.22420037602940224,
+              1.2374318574013117
+            ],
+            "held_grasp_object_position": [
+              0.20376028520246875,
+              0.2367156075802911,
+              1.2374318574013117
+            ],
+            "held_grasp_finger_gap": 0.026954378702828848,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024453671702514074,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0533433869488103,
+              -0.9982693490214077,
+              0.024754592971898075
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004336953544799927,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036959941815036104,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.32133815511190733,
+              0.178634557505372,
+              0.7671063437513225
+            ],
+            "target_position": [
+              0.3272392764002107,
+              0.17799421155725845,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005935762410384441,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16590564115674392,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671063437513225,
+            "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": 0.07527337631961747,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08846615446265126,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13448207085190722,
+            "release_required_pad_clearance": 0.05423307723132563,
+            "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": 3.4777746045979847,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 137,
+            "max_placed_release_frames": 137
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "44023675c0a7fdf90f96c3f58d68833fcdbcf1de9a9b7df5935f7c4c66a0f439",
+    "visual_seed": 1546501750034890050,
+    "episode_index": 117,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_118_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_118_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..45ecb0a81e193ea6deeb48bea8cc10ba227b06f0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_118_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 118,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.19510097004025498,
+              0.2299389668354136,
+              1.0473891697653923
+            ],
+            "current_z": 1.0473891697653923,
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+            "lift_margin": 0.18628248293669192,
+            "gripper_z": 1.0532128062511463,
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+            "gripper_position": [
+              0.19090594461882876,
+              0.2256198246359861,
+              1.0532128062511463
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+            "object_minus_gripper": [
+              0.004195025421426218,
+              0.0043191421994275,
+              -0.0058236364857540135
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+            "object_to_gripper_xy": 0.006021065323120789,
+            "object_to_gripper_z": -0.0058236364857540135,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19510097004025498,
+              0.205908318068588,
+              1.0473891697653923
+            ],
+            "finger_b": [
+              0.18429851545645037,
+              0.2299389668354136,
+              1.0473891697653923
+            ],
+            "finger_midpoint": [
+              0.18969974274835266,
+              0.2179236424520008,
+              1.0473891697653923
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+            "object_minus_finger_midpoint": [
+              0.005401227291902316,
+              0.012015324383412795,
+              0.0
+            ],
+            "finger_gap": 0.026347013211931582,
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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": 1.102350886474339,
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+            "fingertip_min_top_clearance": 0.016488515012683985,
+            "object_projection_between_fingers": 0.8318944237289602,
+            "object_to_finger_line_xy": 0.009852729409397902,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.052990903249108975,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.774285088356773,
+            "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,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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": [
+              0.1949151526422411,
+              0.23092725423659277,
+              1.241331466586187
+            ],
+            "held_position": [
+              0.19928188776791803,
+              0.23494020527905307,
+              1.2353861685219485
+            ],
+            "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": 0.008397542545271313,
+            "max_held_gripper_dist": 0.00841263568592969,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005945298064238491,
+            "max_held_gripper_z_dist": 0.005986677161264664,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08667056033155388,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19928188776791803,
+              0.21026890114851216,
+              1.2353861685219485
+            ],
+            "held_grasp_finger_b": [
+              0.1899916216137725,
+              0.23494020527905307,
+              1.2353861685219485
+            ],
+            "held_grasp_midpoint": [
+              0.19463675469084527,
+              0.2226045532137826,
+              1.2353861685219485
+            ],
+            "held_grasp_object_position": [
+              0.19928188776791803,
+              0.23494020527905307,
+              1.2353861685219485
+            ],
+            "held_grasp_finger_gap": 0.02636251681301516,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02443847762071733,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.018522995221328435,
+              -0.9975379106866796,
+              0.06763886006494102
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004494519240426269,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03732892770415829,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.31840438523407566,
+              0.1766677952787975,
+              0.7671050953949484
+            ],
+            "target_position": [
+              0.32676629749813013,
+              0.17721296557805244,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00837966511066727,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16545670470458076,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671050953949484,
+            "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": 0.07539994094952478,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0873343714734046,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13363238009375683,
+            "release_required_pad_clearance": 0.0536671857367023,
+            "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": 2.3390440179351404,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 138,
+            "max_placed_release_frames": 138
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "76d168b0a9dc9f0987cbcbe4cf12d1855070854588a03c550d10625a99dc024c",
+    "visual_seed": 2827735476895701444,
+    "episode_index": 118,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_119_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_119_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5440322b5fead887fc375c157a47da6dcc62ee2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/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": [
+    {
+      "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": [
+              0.19274137460939683,
+              0.23523299013485147,
+              1.0476858945737062
+            ],
+            "current_z": 1.0476858945737062,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.18657914814036114,
+            "gripper_z": 1.0534194936161834,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18790755405818185,
+              0.23046356715306238,
+              1.0534194936161834
+            ],
+            "object_minus_gripper": [
+              0.004833820551214979,
+              0.00476942298178909,
+              -0.0057335990424771666
+            ],
+            "object_to_gripper_xy": 0.006790671299699774,
+            "object_to_gripper_z": -0.0057335990424771666,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19274137460939683,
+              0.21097554875059105,
+              1.0476858945737062
+            ],
+            "finger_b": [
+              0.18099945599234402,
+              0.23523299013485147,
+              1.0476858945737062
+            ],
+            "finger_midpoint": [
+              0.18687041530087042,
+              0.22310426944272127,
+              1.0476858945737062
+            ],
+            "object_minus_finger_midpoint": [
+              0.005870959308526408,
+              0.012128720692130196,
+              0.0
+            ],
+            "finger_gap": 0.026949881545571246,
+            "fingertip_max_gap": 0.0919155950864276,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01347494077278561,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0476858945737062,
+            "object_top_z": 1.0980033716476256,
+            "finger_top_clearance": 0.050317477073919425,
+            "fingertip_min_top_clearance": 0.01509524312217581,
+            "object_projection_between_fingers": 0.8101701910539822,
+            "object_to_finger_line_xy": 0.010568836902317356,
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+            "fingertip_z_max_dist": 0.1,
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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",
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+                "fr3_rightfinger",
+                "franka",
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+                "gripper",
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+                "joint1",
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+                "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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+                "desk",
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+                "table",
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+            },
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+            "last_frame": {
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
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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": [
+              0.19195474575814828,
+              0.23566134565326696,
+              1.241454613817962
+            ],
+            "held_position": [
+              0.19702875375548942,
+              0.24002728007231963,
+              1.2355857161634416
+            ],
+            "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": 0.008902297466822069,
+            "max_held_gripper_dist": 0.008914957540795453,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005868897654520477,
+            "max_held_gripper_z_dist": 0.005919125533180303,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08687320494477938,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19702875375548942,
+              0.21499275243728816,
+              1.2355857161634416
+            ],
+            "held_grasp_finger_b": [
+              0.1870444895050633,
+              0.24002728007231963,
+              1.2355857161634416
+            ],
+            "held_grasp_midpoint": [
+              0.19203662163027635,
+              0.22751001625480388,
+              1.2355857161634416
+            ],
+            "held_grasp_object_position": [
+              0.19702875375548942,
+              0.24002728007231963,
+              1.2355857161634416
+            ],
+            "held_grasp_finger_gap": 0.026952051991109907,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02450713101586339,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04931049641425205,
+              -0.9985992309038245,
+              0.019184654848869106
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004375551296638856,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03697435553564378,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3214071553582245,
+              0.1805180309355229,
+              0.7671045345996066
+            ],
+            "target_position": [
+              0.3273590540189856,
+              0.1798156009282917,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005993204950861284,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16442038296353548,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671045345996066,
+            "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": 0.07529757769642965,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08775245547197284,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13311852708041214,
+            "release_required_pad_clearance": 0.05387622773598642,
+            "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": 2.7511543599778414,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 136,
+            "max_placed_release_frames": 136
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "abf3255b04cd65ded2b15324c90a657687c188decbadb5787b0c4e6740b6e00a",
+    "visual_seed": 6170575250005001674,
+    "episode_index": 119,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_11_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..19b3ef179aacee802e54df9b7ce3474d9a876671
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/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_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": [
+              0.19770694855251886,
+              0.23319215795431156,
+              1.0485461214317198
+            ],
+            "current_z": 1.0485461214317198,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.1874393749983747,
+            "gripper_z": 1.0538723639403498,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1929545212439429,
+              0.2285045749915476,
+              1.0538723639403498
+            ],
+            "object_minus_gripper": [
+              0.004752427308575946,
+              0.004687582962763948,
+              -0.005326242508630008
+            ],
+            "object_to_gripper_xy": 0.006675252755970611,
+            "object_to_gripper_z": -0.005326242508630008,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19770694855251886,
+              0.20892085573311495,
+              1.0485461214317198
+            ],
+            "finger_b": [
+              0.18617800732820744,
+              0.23319215795431156,
+              1.0485461214317198
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+                "Robotiq2F85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
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+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
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+                "joint6",
+                "joint7",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "defaultgroundplane",
+                "desk",
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+                "link0",
+                "table",
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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/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
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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": [
+              0.1969207056240928,
+              0.23381565618338337,
+              1.2444476701739233
+            ],
+            "held_position": [
+              0.20190263326021515,
+              0.2381464530444437,
+              1.2390172267804176
+            ],
+            "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": 0.008547813748169744,
+            "max_held_gripper_dist": 0.008560737529349483,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005430443393505735,
+            "max_held_gripper_z_dist": 0.005484223989313142,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08643059944864628,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20190263326021515,
+              0.21319044546961594,
+              1.2390172267804176
+            ],
+            "held_grasp_finger_b": [
+              0.19189209688984737,
+              0.2381464530444437,
+              1.2390172267804176
+            ],
+            "held_grasp_midpoint": [
+              0.19689736507503125,
+              0.22566844925702984,
+              1.2390172267804176
+            ],
+            "held_grasp_object_position": [
+              0.20190263326021515,
+              0.2381464530444437,
+              1.2390172267804176
+            ],
+            "held_grasp_finger_gap": 0.02688890389170442,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02454813086216738,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.038421625838651684,
+              -0.9990681350082069,
+              0.01966317062780676
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004528900955625472,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037061563556144886,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.31995404063393473,
+              0.1716899354336416,
+              0.767103307233761
+            ],
+            "target_position": [
+              0.32678580514153277,
+              0.1712806014357718,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006844016409177313,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16628899324649882,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.767103307233761,
+            "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": 0.07524136609772085,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08623137760386428,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.134855360309428,
+            "release_required_pad_clearance": 0.05311568880193214,
+            "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": 1.2448493192768428,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ba46f119e16d829ac821eeb15125873c34c0bb1afb593e1580197a772b157f60",
+    "visual_seed": 7022182664645055843,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_120_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_120_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d123e0194c1e5f4cbe3ee1c4416ba57e58520cf
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/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_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": [
+              0.19415032618472622,
+              0.23048907850411243,
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+                "Robotiq2F85",
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+                "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",
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+                "left_inner_finger",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "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": [
+              0.19355668268369808,
+              0.23115441917916763,
+              1.2420799886385139
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+            "held_position": [
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+              0.2354217141393485,
+              1.2360483950132797
+            ],
+            "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": 0.008860134741674968,
+            "max_held_gripper_dist": 0.008874333132659529,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0060315936252341995,
+            "max_held_gripper_z_dist": 0.006074562506967807,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0865302738189968,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19844667856339826,
+              0.21049950123915873,
+              1.2360483950132797
+            ],
+            "held_grasp_finger_b": [
+              0.18859478361210252,
+              0.2354217141393485,
+              1.2360483950132797
+            ],
+            "held_grasp_midpoint": [
+              0.1935207310877504,
+              0.22296060768925363,
+              1.2360483950132797
+            ],
+            "held_grasp_object_position": [
+              0.19844667856339826,
+              0.2354217141393485,
+              1.2360483950132797
+            ],
+            "held_grasp_finger_gap": 0.02679881583155779,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024366359748218144,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05210835087127323,
+              -0.9982952094473813,
+              0.02629438274395468
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004282739238945156,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037023704197116945,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3209499699009551,
+              0.17347436542056666,
+              0.76710528953088
+            ],
+            "target_position": [
+              0.32689774906655245,
+              0.17279622498723216,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005986313677885337,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16494856139889144,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.76710528953088,
+            "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": 0.07527018066054221,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08886450019703095,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1336425061930775,
+            "release_required_pad_clearance": 0.054432250098515475,
+            "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": 3.8857906328818403,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 137,
+            "max_placed_release_frames": 137
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "df32571cb98e7564235df864770476ea91fea5192402275848e6d805f137c1ee",
+    "visual_seed": 2706688116195638777,
+    "episode_index": 120,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_122_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_122_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..54b99e0b2285c6d049096ab660b4c58c965b87eb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_122_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 122,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "failure_messages": {},
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "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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+              1.236864182367491
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_a",
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+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "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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+    },
+    {
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+      "skill": "place",
+      "target": "inspection_platform",
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+      "reason": "executed",
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+        "checker": {
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+            "max_z": 0.8774145980897915,
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+            "object_tilt_deg": 1.5409857280403938,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 135,
+            "max_placed_release_frames": 135
+          },
+          "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",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+            "failed_keys": []
+          }
+        },
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+      "physical_semantics": {
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+        "attach_object_path": null,
+        "attach_allowed": false,
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+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 122,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "50737e95886885566ee6f584f9cdc6ca6eb22290022cb3465789918e92be5fb3",
+    "visual_seed": 3299740655195488511,
+    "episode_index": 122,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
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+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_124_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_124_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e14342e105ab4c47ca3715eb379b13bbb357cccd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_124_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 124,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+              0.21316210779517877,
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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"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "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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+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": "beaker_a",
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+                "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",
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+            },
+            "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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+    {
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "force_virtual_attach": false,
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+            "object_axis_flip_tolerance_deg": 3.0,
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 138,
+            "max_placed_release_frames": 138
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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",
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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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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d8d05ef905e067e363f1671cf5a713ab8e21584c1ba20954a2c6a9cb2d9f278a",
+    "visual_seed": 8700684944195639018,
+    "episode_index": 124,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_125_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_125_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a28ee59d189816ae76f727bf860968a3f634f219
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/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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+              1.0469968690517417
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+              0.22727323036883415,
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+              1.0
+            ],
+            "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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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_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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+        "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": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.243910029100884,
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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_source": "active_contact_pad_positions",
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+              0.2189384471788808,
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+              0.2314242381398824,
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+              0.243910029100884,
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_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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+              "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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+              "failed_keys": []
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+            "failed_keys": []
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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": 0.13460998770698146,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.155117324662843,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 137,
+            "max_placed_release_frames": 137
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8d96f47ac766167219240966b3477700f4762cb172527b6837c8ecc66c4aa7f1",
+    "visual_seed": 6018209378069220823,
+    "episode_index": 125,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_126_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_126_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d0069c2e8f91fd407d1e3d41475aa0461d971cb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/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_a",
+      "success": true,
+      "reason": "executed",
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+              0.2335802730055492,
+              1.0490700447870833
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+            "gripper_position": [
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+              0.22863509200373922,
+              1.0549046692632915
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+              0.0049451810018099895,
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+              1.0490700447870833
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+              0.22129222601075485,
+              1.0490700447870833
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+              0.012288046994794355,
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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": {
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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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+          }
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+      },
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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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+              1.238683801019108
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+            "held_shake_count": 5,
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+            "max_held_gripper_dist": 0.00927121985602076,
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+            "max_held_gripper_z_dist": 0.0060166586845931125,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08668967606035707,
+            "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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+              1.238683801019108
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02486519751513615,
+            "held_grasp_world_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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+              0.028205412231948057
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0047714241648081175,
+            "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": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "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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+                {
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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": {
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+          "metrics": {
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+            "release_min_pad_clearance": 0.13708629669661043,
+            "release_required_pad_clearance": 0.05346961563711149,
+            "release_pad_clearance_ok": true,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9419081774836155,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4fcd24d52d24eb1824baaa302c847638eb576826be46c00e6d84e5991c0545a3",
+    "visual_seed": 5827308355991009212,
+    "episode_index": 126,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_127_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_127_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dda5a5b74e63bca4f6f64bf29566fc6133dbc70c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/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_a",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              1.0476707727171373
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+              0.22521101596428764,
+              1.0531639852536634
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+              0.004479020748635654,
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+            "object_to_gripper_z": -0.005493212536526126,
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+              0.20551335540251775,
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+              1.0476707727171373
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+              0.2176016960577205,
+              1.0476707727171373
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+              0.012088340655202784,
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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": 0.05031091181411801,
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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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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
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+              ],
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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",
+      "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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+              0.23008108067477767,
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+              0.2342105307551178,
+              1.2357382811155349
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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": 0.00839242083265026,
+            "max_held_gripper_dist": 0.008406196240439657,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00563908925269585,
+            "max_held_gripper_z_dist": 0.0056835995494470826,
+            "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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+              0.22177404044408516,
+              1.2357382811155349
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+              0.2342105307551178,
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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": 0.024468203157985872,
+            "held_grasp_world_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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+              0.04219156802592139
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004256670720574405,
+            "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": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "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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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "place",
+      "target": "inspection_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_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": 0.13495756441226794,
+            "release_required_pad_clearance": 0.05353503092025512,
+            "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": 2.0702727882932677,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d235d53c6b5e6d0b4415342401ec406e7e4c7a1c065873b735301ba602b826be",
+    "visual_seed": 804407598461060002,
+    "episode_index": 127,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_128_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_128_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..96cd686565cf1dda28c9de10cfe0505fd75c4970
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_128_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 128,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.23639807942606472,
+              1.0477995854021764
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+            "current_z": 1.0477995854021764,
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+            "lift_margin": 0.18669277936418682,
+            "gripper_z": 1.0535172492332678,
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+            "gripper_position": [
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+              0.2321466408021683,
+              1.0535172492332678
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+              0.004251438623896431,
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+            "object_to_gripper_z": -0.005717663831091402,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.21236106896535734,
+              1.0477995854021764
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+              0.23639807942606472,
+              1.0477995854021764
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+              0.22437957419571103,
+              1.0477995854021764
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+              0.012018505230353693,
+              0.0
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05057656128377015,
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+            "object_upright_reference_source": "scene_initial",
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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"
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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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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
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+              ],
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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",
+      "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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+              0.23743732924265848,
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+              0.2414105842502986,
+              1.234828380338186
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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": 0.00824881122836896,
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+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005850719959769934,
+            "max_held_gripper_z_dist": 0.005892655985236583,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08502791037622992,
+            "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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+              0.2291089357975482,
+              1.234828380338186
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+            "held_grasp_object_position": [
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+              0.2414105842502986,
+              1.234828380338186
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+            "held_grasp_finger_gap": 0.026265609894633737,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02431001759302766,
+            "held_grasp_world_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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+              -0.9986762745002715,
+              0.04291720754509842
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004280240676049717,
+            "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"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "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"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              "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": "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": [
+              0.3228838507992577,
+              0.17884328556514528,
+              0.7671052581232207
+            ],
+            "target_position": [
+              0.3309171245454423,
+              0.1791582816233204,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008039447095279933,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16264183820445216,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671052581232207,
+            "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": 0.07539670886232246,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08775649769332593,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13097269921557422,
+            "release_required_pad_clearance": 0.053878248846662966,
+            "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": 2.760250239692183,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 133,
+            "max_placed_release_frames": 133
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "07261a7fdb98af5fa4fa88d361d199b93f0040ca45fcc1d457ef60ecfe35b920",
+    "visual_seed": 2957238336059749133,
+    "episode_index": 128,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_129_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_129_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..74ae5fa2853d1626bc6bd37b4eaa181d081f40bb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_129_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 129,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.1915056282452446,
+              0.23376464867148544,
+              1.0498254257118664
+            ],
+            "current_z": 1.0498254257118664,
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+            "initial_z": 0.7611065676194111,
+            "lift_margin": 0.18871885809245537,
+            "gripper_z": 1.0555514453428456,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18694223293826687,
+              0.2291707717334424,
+              1.0555514453428456
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+            "object_minus_gripper": [
+              0.004563395306977747,
+              0.004593876938043029,
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+            "object_to_gripper_xy": 0.00647520517432692,
+            "object_to_gripper_z": -0.005726019630979184,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.1915056282452446,
+              0.2096290543365231,
+              1.0498254257118664
+            ],
+            "finger_b": [
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+              0.23376464867148544,
+              1.0498254257118664
+            ],
+            "finger_midpoint": [
+              0.18580535700160727,
+              0.22169685150400426,
+              1.0498254257118664
+            ],
+            "object_minus_finger_midpoint": [
+              0.005700271243637339,
+              0.012067797167481187,
+              0.0
+            ],
+            "finger_gap": 0.026692682197673994,
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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": 0.015294110409055105,
+            "object_projection_between_fingers": 0.8175824564004525,
+            "object_to_finger_line_xy": 0.010308400880573249,
+            "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": 1.38116887707391,
+            "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_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,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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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+              0.23426386460891682,
+              1.2450982086518583
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+            "held_position": [
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+              0.23848510135645373,
+              1.2392613063624434
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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": 0.00865552677551781,
+            "max_held_gripper_dist": 0.008668492894411501,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005836902289414914,
+            "max_held_gripper_z_dist": 0.005880903194664278,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08646664432344281,
+            "held_object_min_xy_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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+              0.2136020157841819,
+              1.2392613063624434
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+              0.23848510135645373,
+              1.2392613063624434
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+            "held_grasp_midpoint": [
+              0.19090421034596683,
+              0.22604355857031783,
+              1.2392613063624434
+            ],
+            "held_grasp_object_position": [
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+              0.23848510135645373,
+              1.2392613063624434
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+            "held_grasp_finger_gap": 0.0267276118444691,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02443411050865057,
+            "held_grasp_world_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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+              -0.998741291972497,
+              0.026143372199215587
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004353781981572537,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037085540291707374,
+            "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": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "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": [
+              0.31833361321478726,
+              0.1736024067082965,
+              0.7671034127184643
+            ],
+            "target_position": [
+              0.32461280193291003,
+              0.17278675750917433,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006331942401335388,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16547821493471698,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671034127184643,
+            "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": 0.07583364562814879,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08660614007949495,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1328991895520724,
+            "release_required_pad_clearance": 0.05330307003974748,
+            "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": 1.6110058253337658,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 138,
+            "max_placed_release_frames": 138
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1ac4f447a8b042d80061d07ed492e62af4449f2ea60cc65252683e2b144447fc",
+    "visual_seed": 890994487908368391,
+    "episode_index": 129,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_130_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_130_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b0ea6c2d10503cdc6ff66561f0dc99ac8a5eb44
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_130_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 130,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+          "skill": "pick",
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+              1.047701386439998
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+              0.22163561701077117,
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+            "fingertip_z_max_dist": 0.1,
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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"
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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"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
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+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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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+              0.2351254718166073,
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+              0.23922108289497437,
+              1.235670634531719
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+            "shake_count": 5,
+            "held_shake_count": 5,
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+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008278575650260644,
+            "max_held_gripper_dist": 0.008293432466436913,
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+            "held_gripper_z_dist": 0.005675368091028643,
+            "max_held_gripper_z_dist": 0.005717779249689858,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08652193732195124,
+            "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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+              0.22690650978172927,
+              1.235670634531719
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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": 0.02448698122763272,
+            "held_grasp_world_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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+              -0.9996000534115813,
+              0.024645886032151676
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004609423354488829,
+            "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": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.32302733014498697,
+              0.1783247013745638,
+              0.7671043210256971
+            ],
+            "target_position": [
+              0.33066789383263756,
+              0.17829339494318808,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007640627824838107,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1636888952560284,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671043210256971,
+            "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": 0.07545045660590975,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08621090550220022,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13198779029178562,
+            "release_required_pad_clearance": 0.05310545275110011,
+            "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": 1.2284071420487663,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 135,
+            "max_placed_release_frames": 135
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e6a5ef4c1e5f004d33bdfa5adacd1065080c052d1e70f1bedc4d0b6867af0287",
+    "visual_seed": 9133283358888247896,
+    "episode_index": 130,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_132_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_132_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ef27e14f77bdcfa662885293db6ac0bf89dc1b7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_132_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 132,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
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+            "object_position": [
+              0.1979226555053422,
+              0.23556289993991947,
+              1.0497507513960593
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+            "gripper_position": [
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+              0.23061893575531411,
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+              0.004943964184605354,
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+              0.2109378361160681,
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+              0.23556289993991947,
+              1.0497507513960593
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+              0.22325036802799378,
+              1.0497507513960593
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+              0.01231253191192569,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.010695940380820864,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
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+            "stable_success_frames": 213,
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+            "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": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "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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+              0.23607029901746596,
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+              0.2406665246322466,
+              1.2398353219703764
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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": 0.009198881048602945,
+            "max_held_gripper_dist": 0.009212679483161118,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00581985507096805,
+            "max_held_gripper_z_dist": 0.005875007246912034,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0865136657890995,
+            "held_object_min_xy_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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+              0.2020189062492489,
+              0.21548270172650616,
+              1.2398353219703764
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+              0.22807461317937638,
+              1.2398353219703764
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+            "held_grasp_object_position": [
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+              0.2406665246322466,
+              1.2398353219703764
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+            "held_grasp_finger_gap": 0.027295810550971248,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02501244349207023,
+            "held_grasp_world_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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+              -0.9993534245287209,
+              0.032797908067866643
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005094737186506514,
+            "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",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3203840555744598,
+              0.17298549965954282,
+              0.7671056114756283
+            ],
+            "target_position": [
+              0.32702911884645836,
+              0.17243174172598144,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006668096710294935,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16522240211653713,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671056114756283,
+            "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": 0.07520594831203434,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08681714030497333,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1340903424911054,
+            "release_required_pad_clearance": 0.053408570152486665,
+            "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": 1.8217018600473613,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 138,
+            "max_placed_release_frames": 138
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 132,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cc5c0a0cb611c639cefed499cb3933762696fb7b95ad821f20a70b1593cc4cb1",
+    "visual_seed": 9222090803150460151,
+    "episode_index": 132,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_133_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_133_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..681aa4915c3ae263f65886e508ad99971d7a6213
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_133_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 133,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+              0.2368815047306695,
+              1.049428897934129
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+            "gripper_z": 1.054719849753938,
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+              0.23216591551908092,
+              1.054719849753938
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+              0.004715589211588572,
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+            "object_to_gripper_z": -0.005290951819808987,
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+              0.2127199987130684,
+              1.049428897934129
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+            "finger_b": [
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+              0.2368815047306695,
+              1.049428897934129
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+              0.22480075172186895,
+              1.049428897934129
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+              0.012080753008800543,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.010514870293275183,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04862663331431684,
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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": 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": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object": 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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+              0.23710712775160622,
+              1.2450925785070994
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+            "held_position": [
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+              0.2414224813741777,
+              1.2396962351278034
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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": 0.008520398970769389,
+            "max_held_gripper_dist": 0.008534037572430273,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005396343379296065,
+            "max_held_gripper_z_dist": 0.005449881478407637,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08543797589061763,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2014438308011921,
+              0.21643299055964196,
+              1.2396962351278034
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+              0.22892773596690985,
+              1.2396962351278034
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+            "held_grasp_object_position": [
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+              0.2414224813741777,
+              1.2396962351278034
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+            "held_grasp_finger_gap": 0.02689497934384008,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024472933481192075,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04848441346251632,
+              -0.9986205440982661,
+              0.02015615429785078
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004367311425815825,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03700169789674079,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3204227149673134,
+              0.1785660236897821,
+              0.7671046160705164
+            ],
+            "target_position": [
+              0.32660658772799034,
+              0.17780419924579777,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006230622665809121,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16628835759022648,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671046160705164,
+            "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": 0.07563663076612989,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08768862806048648,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1340308188206118,
+            "release_required_pad_clearance": 0.05384431403024324,
+            "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": 2.6681892465100283,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 138,
+            "max_placed_release_frames": 138
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bdf443936d8520599e03446d73bdd37e350aadd6b531f7e9a31b4866fb588881",
+    "visual_seed": 7797254142578334018,
+    "episode_index": 133,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_134_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_134_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..87358fc4438f51fcf55051b4e4a3655897ba24d7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_134_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 134,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.1964786064488709,
+              0.23319915266237376,
+              1.0503278636831848
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+            "gripper_z": 1.055758457130553,
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+            "gripper_position": [
+              0.19191020553355412,
+              0.22859625021904023,
+              1.055758457130553
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+              0.004602902443333529,
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+            "object_to_gripper_z": -0.005430593447368182,
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+              0.20907111106803172,
+              1.0503278636831848
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+              0.23319915266237376,
+              1.0503278636831848
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+              0.1907668809930743,
+              0.22113513186520273,
+              1.0503278636831848
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+              0.0057117254557966235,
+              0.012064020797171032,
+              0.0
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+            "finger_gap": 0.026695647995654274,
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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": 0.0493221730338335,
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+            "object_tilt_deg": 1.4298376329127822,
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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_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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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+              0.23391358127525846,
+              1.2441184002533985
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+              0.23816673826710302,
+              1.2385570560169876
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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": 0.008478787819691604,
+            "max_held_gripper_dist": 0.008493040368918478,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005561344236410859,
+            "max_held_gripper_z_dist": 0.005610971440220158,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08525310204832973,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20066984884180977,
+              0.21329712683987948,
+              1.2385570560169876
+            ],
+            "held_grasp_finger_b": [
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+              0.23816673826710302,
+              1.2385570560169876
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+            "held_grasp_midpoint": [
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+              0.22573193255349125,
+              1.2385570560169876
+            ],
+            "held_grasp_object_position": [
+              0.20066984884180977,
+              0.23816673826710302,
+              1.2385570560169876
+            ],
+            "held_grasp_finger_gap": 0.026719046372894906,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024442105582329385,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04076248454063095,
+              -0.9988199995224093,
+              0.026401295576718668
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004385468741852506,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03710103758739783,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3205421865600125,
+              0.17463015721408273,
+              0.7671052902208194
+            ],
+            "target_position": [
+              0.32756016690352874,
+              0.1741740300913654,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0070327875024103256,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16644696328296543,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671052902208194,
+            "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": 0.07567034059231573,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08952013987214079,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1341331216324322,
+            "release_required_pad_clearance": 0.054760069936070396,
+            "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": 4.56740988200828,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 134,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8c738bdf6489b4ff37403e9a5af389894f027ee728c6d2a7886cf8bddb25d80f",
+    "visual_seed": 4360013741270108502,
+    "episode_index": 134,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_135_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_135_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..652598827a4c78807c73c46d5aec7a6c8d6218a5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_135_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 135,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.19564301485622018,
+              0.23147787858242902,
+              1.048017907068238
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+            "gripper_z": 1.0537073323177741,
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+            "gripper_position": [
+              0.19079862985910023,
+              0.22676405742501377,
+              1.0537073323177741
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+              0.004713821157415254,
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+              0.19564301485622018,
+              0.20710659906898884,
+              1.048017907068238
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+            "finger_b": [
+              0.1841215000153608,
+              0.23147787858242902,
+              1.048017907068238
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+            "finger_midpoint": [
+              0.18988225743579049,
+              0.21929223882570892,
+              1.048017907068238
+            ],
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+              0.005760757420429696,
+              0.012185639756720101,
+              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": 0.010416191811794453,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04965177677308438,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.666192683801547,
+            "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",
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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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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "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": [
+              0.19476075469024368,
+              0.23207383846660362,
+              1.2414636616715131
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+            "held_position": [
+              0.199794058577932,
+              0.2364412309632312,
+              1.2356361823507593
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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": 0.008852557849527458,
+            "max_held_gripper_dist": 0.008866273467064747,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005827479320753781,
+            "max_held_gripper_z_dist": 0.005875150839590448,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08529650592560023,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.199794058577932,
+              0.2114447828948055,
+              1.2356361823507593
+            ],
+            "held_grasp_finger_b": [
+              0.1897960575596575,
+              0.2364412309632312,
+              1.2356361823507593
+            ],
+            "held_grasp_midpoint": [
+              0.19479505806879477,
+              0.22394300692901836,
+              1.2356361823507593
+            ],
+            "held_grasp_object_position": [
+              0.199794058577932,
+              0.2364412309632312,
+              1.2356361823507593
+            ],
+            "held_grasp_finger_gap": 0.02692178375217586,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0246536630902904,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03189809054663699,
+              -0.999045150882891,
+              0.029854619690430573
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004613095516809339,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03707450138318357,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3203360537535146,
+              0.17974515670762964,
+              0.7671042640080631
+            ],
+            "target_position": [
+              0.32715407809819674,
+              0.17936551033001844,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006828586042271984,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16715665867940763,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671042640080631,
+            "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": 0.07559355103265611,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08587727779573216,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13483668876413177,
+            "release_required_pad_clearance": 0.05293863889786608,
+            "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": 0.9039228351101405,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c7b499f16dd10c53894b470bc21294551e61f8f74784675d7edf2fec8520aa75",
+    "visual_seed": 4081170733149611452,
+    "episode_index": 135,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_137_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_137_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..391392c9021414eb012e447e84deb11518b4f9b9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_137_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 137,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.19642283303366,
+              0.23654144602584332,
+              1.0468022302538462
+            ],
+            "current_z": 1.0468022302538462,
+            "required_z": 0.861107044456569,
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+            "lift_margin": 0.18569518579727717,
+            "gripper_z": 1.0530346875430636,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19111923029098554,
+              0.23152093308040378,
+              1.0530346875430636
+            ],
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+              0.005303602742674468,
+              0.005020512945439537,
+              -0.006232457289217397
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+            "object_to_gripper_xy": 0.007302996117172055,
+            "object_to_gripper_z": -0.006232457289217397,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19642283303366,
+              0.2117132428008892,
+              1.0468022302538462
+            ],
+            "finger_b": [
+              0.18463330718509643,
+              0.23654144602584332,
+              1.0468022302538462
+            ],
+            "finger_midpoint": [
+              0.19052807010937822,
+              0.22412734441336626,
+              1.0468022302538462
+            ],
+            "object_minus_finger_midpoint": [
+              0.005894762924281788,
+              0.012414101612477052,
+              0.0
+            ],
+            "finger_gap": 0.02748513407486982,
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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": 1.0468022302538462,
+            "object_top_z": 1.097187735452624,
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+            "fingertip_min_top_clearance": 0.01511565155963338,
+            "object_projection_between_fingers": 0.8160088396595426,
+            "object_to_finger_line_xy": 0.010649856860680868,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04950179825139607,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.3537896896105948,
+            "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,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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": [
+              0.19511659714176569,
+              0.2367427596038897,
+              1.2402169939956347
+            ],
+            "held_position": [
+              0.20063194778186902,
+              0.2414259849981273,
+              1.233821287025032
+            ],
+            "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": 0.00965695399338402,
+            "max_held_gripper_dist": 0.009672327349882574,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006395706970602655,
+            "max_held_gripper_z_dist": 0.006450259385122337,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08553732332162242,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20063194778186902,
+              0.21607925659395152,
+              1.233821287025032
+            ],
+            "held_grasp_finger_b": [
+              0.1901984813163735,
+              0.2414259849981273,
+              1.233821287025032
+            ],
+            "held_grasp_midpoint": [
+              0.19541521454912125,
+              0.22875262079603942,
+              1.233821287025032
+            ],
+            "held_grasp_object_position": [
+              0.20063194778186902,
+              0.2414259849981273,
+              1.233821287025032
+            ],
+            "held_grasp_finger_gap": 0.027410105130802966,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02523808966421966,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.01010067792299495,
+              -0.9998716341014151,
+              0.012437508788409768
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005090908476936524,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03699582015359689,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.32654719740457805,
+              0.17751125010812888,
+              0.7671045850384995
+            ],
+            "target_position": [
+              0.33255490130104864,
+              0.1764808197471812,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006095432128769112,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16635190900709546,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671045850384995,
+            "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": 0.07551315938440827,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08505090547757137,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1346019852437179,
+            "release_required_pad_clearance": 0.052525452738785686,
+            "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": 0.11173387413918248,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 137,
+            "max_placed_release_frames": 137
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ec1253ab5236ff055ef863fa9f8c25630109871baadc8e62964445acde35762a",
+    "visual_seed": 8359772221711592944,
+    "episode_index": 137,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_142_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_142_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..caeae52effa60b9aaaba481894bf616aa89f7160
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_142_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 142,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1928933887590582,
+              0.2364082432902849,
+              1.047653465353147
+            ],
+            "current_z": 1.047653465353147,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.18654683812909134,
+            "gripper_z": 1.0533924922568794,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1883933709698654,
+              0.23179878325939293,
+              1.0533924922568794
+            ],
+            "object_minus_gripper": [
+              0.004500017789192817,
+              0.004609460030891965,
+              -0.005739026903732292
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+            "object_to_gripper_xy": 0.006441838392838055,
+            "object_to_gripper_z": -0.005739026903732292,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1928933887590582,
+              0.21240233341200895,
+              1.047653465353147
+            ],
+            "finger_b": [
+              0.18137081718829678,
+              0.2364082432902849,
+              1.047653465353147
+            ],
+            "finger_midpoint": [
+              0.1871321029736775,
+              0.22440528835114693,
+              1.047653465353147
+            ],
+            "object_minus_finger_midpoint": [
+              0.00576128578538071,
+              0.012002954939137972,
+              0.0
+            ],
+            "finger_gap": 0.02662805596898177,
+            "fingertip_max_gap": 0.09482831324493546,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013314027984490885,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047653465353147,
+            "object_top_z": 1.099584131431857,
+            "finger_top_clearance": 0.05193066607871,
+            "fingertip_min_top_clearance": 0.015579199823612964,
+            "object_projection_between_fingers": 0.8127508277717771,
+            "object_to_finger_line_xy": 0.01038790871612625,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04991415662246773,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.656523544912495,
+            "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,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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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": [
+              0.19227798098471852,
+              0.23708317387698752,
+              1.2398004144787877
+            ],
+            "held_position": [
+              0.19700381387792115,
+              0.2413163274114675,
+              1.2339168828539098
+            ],
+            "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": 0.008652689163600853,
+            "max_held_gripper_dist": 0.008668187904756715,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00588353162487798,
+            "max_held_gripper_z_dist": 0.005931792079611586,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08639616593390673,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19700381387792115,
+              0.2164726847047721,
+              1.2339168828539098
+            ],
+            "held_grasp_finger_b": [
+              0.18731151401248658,
+              0.2413163274114675,
+              1.2339168828539098
+            ],
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+              0.19215766394520387,
+              0.22889450605811978,
+              1.2339168828539098
+            ],
+            "held_grasp_object_position": [
+              0.19700381387792115,
+              0.2413163274114675,
+              1.2339168828539098
+            ],
+            "held_grasp_finger_gap": 0.0266673444425845,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02434064998034443,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04751158034022957,
+              -0.9982894520294593,
+              0.03407080422144271
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0042719040016208675,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03708942859618466,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.319324264957489,
+              0.17373072897119285,
+              0.7671054044068417
+            ],
+            "target_position": [
+              0.3258810767207406,
+              0.1729971287861785,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006597723071648881,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16798451854814742,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671054044068417,
+            "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": 0.07570798813520953,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09046956702464053,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13553700090883905,
+            "release_required_pad_clearance": 0.055234783512320265,
+            "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": 5.5491791782702595,
+            "object_max_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": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 142,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5a6293a63de31d9e87e295b725f6c28cb3a8e43c5ee3e8313999f5882134ab2c",
+    "visual_seed": 292193292140715407,
+    "episode_index": 142,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_144_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_144_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc1d8401fddd098a7dd1e3c669e08603637d17b3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_144_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 144,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+              0.19381761986667737,
+              0.2365442437480166,
+              1.0484723897876977
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+            "current_z": 1.0484723897876977,
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+            "lift_margin": 0.18736576256364212,
+            "gripper_z": 1.054293666788033,
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+            "gripper_position": [
+              0.18898209779618957,
+              0.2317085284197259,
+              1.054293666788033
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+              0.004835522070487791,
+              0.004835715328290718,
+              -0.00582127700033519
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+            "object_to_gripper_xy": 0.00683859754850659,
+            "object_to_gripper_z": -0.00582127700033519,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19381761986667737,
+              0.21238402967706715,
+              1.0484723897876977
+            ],
+            "finger_b": [
+              0.1818584147494831,
+              0.2365442437480166,
+              1.0484723897876977
+            ],
+            "finger_midpoint": [
+              0.18783801730808025,
+              0.2244641367125419,
+              1.0484723897876977
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059796025585971135,
+              0.012080107035474713,
+              0.0
+            ],
+            "finger_gap": 0.02695808841496795,
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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": 0.015172057655222386,
+            "object_projection_between_fingers": 0.8031993888634963,
+            "object_to_finger_line_xy": 0.010718006087901258,
+            "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": 1.1495006375291286,
+            "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"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "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": [
+              0.1930488653439391,
+              0.23683284973300883,
+              1.2421226862171775
+            ],
+            "held_position": [
+              0.1981557796861503,
+              0.24122100380482955,
+              1.2361626351481596
+            ],
+            "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": 0.008992145405965154,
+            "max_held_gripper_dist": 0.009010084330440343,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005960051069017869,
+            "max_held_gripper_z_dist": 0.006010187203755457,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08685178095911875,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1981557796861503,
+              0.21616188839512165,
+              1.2361626351481596
+            ],
+            "held_grasp_finger_b": [
+              0.1881397313282663,
+              0.24122100380482955,
+              1.2361626351481596
+            ],
+            "held_grasp_midpoint": [
+              0.1931477555072083,
+              0.2286914460999756,
+              1.2361626351481596
+            ],
+            "held_grasp_object_position": [
+              0.1981557796861503,
+              0.24122100380482955,
+              1.2361626351481596
+            ],
+            "held_grasp_finger_gap": 0.02698667244816468,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024457996316514904,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.055512800030551396,
+              -0.9982002475798496,
+              0.022684681269415138
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004314332108501317,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03693523302225006,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.323880003738961,
+              0.1758944877481071,
+              0.7671051332566432
+            ],
+            "target_position": [
+              0.33007219114948266,
+              0.17507757577409216,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006245841024258643,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16772528772324496,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671051332566432,
+            "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": 0.075630601697058,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08805419590676276,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13545336453189086,
+            "release_required_pad_clearance": 0.054027097953381384,
+            "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": 3.057081401045629,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 144,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8c6010a3be4888ab9ef82538664a900c337a3544b2dc56721b233556de869758",
+    "visual_seed": 1486331850225625595,
+    "episode_index": 144,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_145_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_145_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0aab3758fa6739d7bcc15f2c9103d70c1076cbbc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_145_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 145,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
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+          "metrics": {
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+              0.1990942949258202,
+              0.2377312034853413,
+              1.047983261796662
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+            "gripper_z": 1.0532663739103856,
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+            "gripper_position": [
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+              0.23291755830961863,
+              1.0532663739103856
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+              0.004851585970685857,
+              0.004813645175722664,
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+            "object_to_gripper_z": -0.005283112113723565,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.1990942949258202,
+              0.2135105362326696,
+              1.047983261796662
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+            "finger_b": [
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+              0.2377312034853413,
+              1.047983261796662
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+            "finger_midpoint": [
+              0.1931621077992614,
+              0.22562086985900545,
+              1.047983261796662
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+              0.005932187126558797,
+              0.012110333626335845,
+              0.0
+            ],
+            "finger_gap": 0.02697043007782193,
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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": 0.8064853130573352,
+            "object_to_finger_line_xy": 0.01065474521973707,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8238230383503892,
+            "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",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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": [
+              0.1983143349379337,
+              0.23807364609097442,
+              1.239923796576039
+            ],
+            "held_position": [
+              0.20341558280983807,
+              0.24247280378112102,
+              1.2344833033777256
+            ],
+            "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": 0.00865876922398785,
+            "max_held_gripper_dist": 0.00867243645391965,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005440493198313412,
+            "max_held_gripper_z_dist": 0.005499177181319093,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08680007958955424,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20341558280983807,
+              0.21739662563254195,
+              1.2344833033777256
+            ],
+            "held_grasp_finger_b": [
+              0.19345670041767965,
+              0.24247280378112102,
+              1.2344833033777256
+            ],
+            "held_grasp_midpoint": [
+              0.19843614161375886,
+              0.22993471470683147,
+              1.2344833033777256
+            ],
+            "held_grasp_object_position": [
+              0.20341558280983807,
+              0.24247280378112102,
+              1.2344833033777256
+            ],
+            "held_grasp_finger_gap": 0.02698136484761506,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024461815277570867,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05710124627136706,
+              -0.9981776220173897,
+              0.019516213207633522
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004262565291575771,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036920677835247405,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.32472254543789597,
+              0.17658274251908326,
+              0.7671051186003798
+            ],
+            "target_position": [
+              0.33071743470537085,
+              0.175797825254656,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006046055940965272,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16547013999230697,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671051186003798,
+            "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": 0.07530996622922655,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08854874398205469,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13421621165288947,
+            "release_required_pad_clearance": 0.054274371991027345,
+            "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": 3.55810000530514,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 137,
+            "max_placed_release_frames": 137
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 145,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2422ddbc132509847e2bf17cd016f8f7953c2fced2e6db5e27eee1f6dc848e96",
+    "visual_seed": 7102390039132854842,
+    "episode_index": 145,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_146_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_146_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d906a4acc7724378ea3614d11df6c8cce27b45b5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_146_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 146,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.19676638768464047,
+              0.235303532899003,
+              1.0480478957027768
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+            "current_z": 1.0480478957027768,
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+            "lift_margin": 0.1869410300601423,
+            "gripper_z": 1.0533711995583581,
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+            "gripper_position": [
+              0.19184854175124916,
+              0.23042322736985488,
+              1.0533711995583581
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+              0.004917845933391313,
+              0.004880305529148116,
+              -0.0053233038555813295
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+            "object_to_gripper_xy": 0.006928390194150957,
+            "object_to_gripper_z": -0.0053233038555813295,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19676638768464047,
+              0.21110048886472418,
+              1.0480478957027768
+            ],
+            "finger_b": [
+              0.18472696918546924,
+              0.235303532899003,
+              1.0480478957027768
+            ],
+            "finger_midpoint": [
+              0.19074667843505486,
+              0.2232020108818636,
+              1.0480478957027768
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+            "object_minus_finger_midpoint": [
+              0.006019709249585614,
+              0.012101522017139404,
+              0.0
+            ],
+            "finger_gap": 0.027032109394633363,
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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": 1.0480478957027768,
+            "object_top_z": 1.0981082123303607,
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
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+                "fr3_joint7",
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+                "fr3_rightfinger",
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+                "gripper_center",
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+                "joint2",
+                "joint3",
+                "joint4",
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+                "joint6",
+                "joint7",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
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+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "defaultgroundplane",
+                "desk",
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+                "link0",
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+                "workbench"
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+            },
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+            "last_frame": {
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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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": [
+              0.19579945213335073,
+              0.23582007495773377,
+              1.2407081028337115
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+              0.20096696739799205,
+              0.2402733178718717,
+              1.235226600093104
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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": 0.008751083290536523,
+            "max_held_gripper_dist": 0.00876704527482806,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005481502740607436,
+            "max_held_gripper_z_dist": 0.005537864742640508,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08649555031578082,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20096696739799205,
+              0.21520643910854578,
+              1.235226600093104
+            ],
+            "held_grasp_finger_b": [
+              0.1908350390433941,
+              0.2402733178718717,
+              1.235226600093104
+            ],
+            "held_grasp_midpoint": [
+              0.1959010032206931,
+              0.22773987849020874,
+              1.235226600093104
+            ],
+            "held_grasp_object_position": [
+              0.20096696739799205,
+              0.2402733178718717,
+              1.235226600093104
+            ],
+            "held_grasp_finger_gap": 0.027037092726807477,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02445513403843158,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05634620991605625,
+              -0.9983704009040215,
+              0.009035885503869577
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004353211023981187,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03692178728895665,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.3249892994071091,
+              0.17921117074129192,
+              0.7671043446715141
+            ],
+            "target_position": [
+              0.3303831091464438,
+              0.17789243760778106,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005552678685243869,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16497530437681643,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671043446715141,
+            "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": 0.07575537802757826,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08690644382702416,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1326804281547578,
+            "release_required_pad_clearance": 0.05345322191351208,
+            "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": 1.9085681218805821,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 136,
+            "max_placed_release_frames": 136
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 146,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "15d455db05a3b2592823147e17255c17d5d8d1313d9e975d5379b164dd0be022",
+    "visual_seed": 8575439424992927429,
+    "episode_index": 146,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_149_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_149_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3ae3e1bfc44bea28697e921c1158fa45d31e5bd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_149_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 149,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19078165017754492,
+              0.22985994831277445,
+              1.0478823773333181
+            ],
+            "current_z": 1.0478823773333181,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.1867755712953283,
+            "gripper_z": 1.0535090650576258,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1864745893893695,
+              0.2254551568365045,
+              1.0535090650576258
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+            "object_minus_gripper": [
+              0.004307060788175415,
+              0.004404791476269959,
+              -0.005626687724307633
+            ],
+            "object_to_gripper_xy": 0.006160597420904787,
+            "object_to_gripper_z": -0.005626687724307633,
+            "fingertip_source": "active_contact_pad_positions",
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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",
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+                "joint2",
+                "joint3",
+                "joint4",
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+                "joint7",
+                "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",
+                "floor",
+                "ground",
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+                "table",
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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/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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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": [
+              0.19043082471796122,
+              0.23083101542611134,
+              1.242476303527061
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+            "held_position": [
+              0.1949198257288232,
+              0.23491724262399855,
+              1.236729900494498
+            ],
+            "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": 0.00835879959090545,
+            "max_held_gripper_dist": 0.008372353576809027,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005746403032562908,
+            "max_held_gripper_z_dist": 0.0057871430787594935,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08526836814015831,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1949198257288232,
+              0.2102074660524292,
+              1.236729900494498
+            ],
+            "held_grasp_finger_b": [
+              0.18544436230849887,
+              0.23491724262399855,
+              1.236729900494498
+            ],
+            "held_grasp_midpoint": [
+              0.19018209401866104,
+              0.22256235433821386,
+              1.236729900494498
+            ],
+            "held_grasp_object_position": [
+              0.1949198257288232,
+              0.23491724262399855,
+              1.236729900494498
+            ],
+            "held_grasp_finger_gap": 0.02646426770660358,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024381621026553252,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03239138612603194,
+              -0.9991407388656967,
+              0.025856953489228778
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0043469545069318005,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037222516162447615,
+            "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/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "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": [
+              0.32001185293552825,
+              0.176450808736341,
+              0.7671039371219706
+            ],
+            "target_position": [
+              0.32702911555556197,
+              0.17606479170514946,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00702787192732568,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16591512454044174,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7671039371219706,
+            "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": 0.07585684447300414,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08534980620648357,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13302053971562514,
+            "release_required_pad_clearance": 0.052674903103241785,
+            "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": 0.39557925533604443,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 138,
+            "max_placed_release_frames": 138
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 149,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "79179020cc388df2f8b99f7ceb1fc0b08f83e3b019f091af553c06600aecabd3",
+    "visual_seed": 5742821175796731910,
+    "episode_index": 149,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_14_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d70f51ad2b6e58c585ec9f304914ed0a60e1aab
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/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_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_150_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_150_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc1ca3c3c9dd35109951fb503a47ac5a371562ee
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_150_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 150,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+              1.0484994375049084
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+              0.22688470320504817,
+              1.0545264093275664
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+              0.0043058525935965875,
+              -0.006026971822657989
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+            "object_to_gripper_xy": 0.006090569468897339,
+            "object_to_gripper_z": -0.006026971822657989,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.20692847118284363,
+              1.0484994375049084
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+              0.23119055579864475,
+              1.0484994375049084
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+              0.2190595134907442,
+              1.0484994375049084
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+              0.012131042307900547,
+              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,
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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": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_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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+              0.2328806627532609,
+              1.240556070611825
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+              0.23697829801659517,
+              1.2343999321845809
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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": 0.008591676339744347,
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+            "held_gripper_z_dist": 0.006156138427244162,
+            "max_held_gripper_z_dist": 0.0061983237314864326,
+            "held_gripper_z_max_dist": 0.15,
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+            "held_grasp_source": "active_contact_pad_positions",
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+              0.22468570032841717,
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+              0.23697829801659517,
+              1.2343999321845809
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02464338217560677,
+            "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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+              -0.9989718853145029,
+              0.044481128715341815
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+            "held_grasp_object_to_finger_line_xy": 0.004905977079122485,
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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",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              "failed_keys": []
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+            "failed_keys": []
+          }
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+            "release_min_pad_clearance": 0.13369657952975775,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.7438108912559285,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 136,
+            "max_placed_release_frames": 136
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
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+            "forbidden": [],
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+            "failed_keys": []
+          }
+        },
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 150,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7de4fb696f41ca6a16d13527f1a30539b14db1a33ca22c7de2295466854fae72",
+    "visual_seed": 6885952433012899008,
+    "episode_index": 150,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_15_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9190a45b377b857da4a6972b81578a0c3047599d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/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": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.19401529112656582,
+              0.22952618174303466,
+              1.0489231336792844
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+            "required_z": 0.8611066272240554,
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+            "lift_margin": 0.18781650645522896,
+            "gripper_z": 1.0546070115398354,
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+            "gripper_position": [
+              0.18931321292859346,
+              0.22482113044298863,
+              1.0546070115398354
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+              0.004702078197972359,
+              0.0047050513000460314,
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+            "object_to_gripper_xy": 0.006651845391762487,
+            "object_to_gripper_z": -0.005683877860551023,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.19401529112656582,
+              0.20536704950206275,
+              1.0489231336792844
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+              0.22952618174303466,
+              1.0489231336792844
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+              0.18818879590610488,
+              0.2174466156225487,
+              1.0489231336792844
+            ],
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+              0.012079566120485968,
+              0.0
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+            "object_to_finger_line_xy": 0.010495826548371995,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048613877933644134,
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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": 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": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "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": [
+              0.19338608886608466,
+              0.23003041022382914,
+              1.2418758620759207
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+            "held_position": [
+              0.19831020180030412,
+              0.23433128932939642,
+              1.2360386164907373
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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": 0.008764581295840413,
+            "max_held_gripper_dist": 0.008780487039495351,
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+            "held_gripper_z_dist": 0.005837245585183393,
+            "max_held_gripper_z_dist": 0.005880696511641581,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08687466737536798,
+            "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": [
+              0.19831020180030412,
+              0.20936808406686983,
+              1.2360386164907373
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+            "held_grasp_midpoint": [
+              0.1934041037458875,
+              0.22184968669813313,
+              1.2360386164907373
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+            "held_grasp_object_position": [
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+              0.23433128932939642,
+              1.2360386164907373
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+            "held_grasp_finger_gap": 0.026822393805498373,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024457673025248095,
+            "held_grasp_world_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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+              -0.998638641183871,
+              0.020281847523174967
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004308181345946223,
+            "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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+            "failed_keys": []
+          }
+        },
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+    },
+    {
+      "step_index": 2,
+      "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_source": "active_contact_pad_positions",
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+            "release_fingertip_min_gap": 0.08717690434585999,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13473851278823887,
+            "release_required_pad_clearance": 0.05358845217293,
+            "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": 2.17427406642663,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 138,
+            "max_placed_release_frames": 138
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5f93cd897ca403df790bdb46f8f98fdc616855181aee6f9eca9264282d62e45b",
+    "visual_seed": 3489365606085875225,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_17_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fa222882548cd93a9b949463b31d64fed052265
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00006/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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+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+              0.22451729329785539,
+              1.0114789803312745
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+            "gripper_z": 1.0541681568739918,
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+            "gripper_position": [
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+              0.2210909532202539,
+              1.0541681568739918
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+              0.0034263400776014807,
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+            "object_to_gripper_z": -0.04268917654271731,
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+              0.2009703112901516,
+              1.0406158960684726
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+              0.22451729329785539,
+              1.040675705567797
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+            "finger_midpoint": [
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+              0.2127438022940035,
+              1.040645800818135
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+            "object_position_origin": "center",
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05921269372042945,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 195,
+            "max_stable_success_frames": 195,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "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": [
+              0.2040818663622816,
+              0.2111665989523557,
+              1.2069188827939183
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+            "held_position": [
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+              0.21102102854428295,
+              1.1638411905157575
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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": 0.04323272416815644,
+            "max_held_gripper_dist": 0.04328431214236818,
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+            "held_gripper_z_dist": 0.04307769227816083,
+            "max_held_gripper_z_dist": 0.04313546690073733,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09012028847876671,
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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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+              0.20694376830167957,
+              1.1924278368208912
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+            "held_grasp_object_position": [
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+              0.21102102854428295,
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+            "held_grasp_finger_gap": 0.040610772879737495,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.04038052275074301,
+            "held_grasp_world_z_skew": 0.0029825107284062735,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
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+              -0.991066398654896,
+              0.11193885648104518
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.027948423935113858,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
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+            "held_grasp_top_clearance": 0.042440289958435184,
+            "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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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
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+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "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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+            "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": 0.07538870101131326,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0925008256158583,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.12868676427658957,
+            "release_required_pad_clearance": 0.056250412807929154,
+            "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": 7.795443922665048,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 135,
+            "max_placed_release_frames": 135
+          },
+          "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",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "675d4c4dcad2015cc47f351d7f93c36a56a29f22edfcb2dc20931b0695c707f8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "df2d25ecc2bc58e8385d9096d75e9935cfd3682c1e9107d5e2964538ad74aaaf",
+    "visual_seed": 1923546666153554575,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "a25e2c883604124ea2ef1fbad930967e46a68e89e49b4331ab2e1d4dbd84602a"
+  }
+}
\ No newline at end of file